Development and control of a leg mechanism for a movable working machine on a steep incline

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The purpose of this study is the construction and control of a leg mechanism driven by water hydraulics. In this study, the components of a water hydraulic control system were developed and the construction and control of the control system that use them were performed. First, the water hydraulic proportional control valve was developed. Then, a water hydraulic cylinder control system using it was constructed, and feedback control of the cylinder displacement was performed. Moreover, two degree-of-freedom linkage mechanism which uses the water hydraulic cylinder and the water hydraulic oscillating motor was built, and angle control of each joint was performed. Furthermore, vane-type 270-degree oscillating motor was newly designed for water hydraulics. The designed oscillating motor was fabricated and it was able to operate smoothly.