Development of Flexible Electro-Hydraulic Spherical Actuator

被引：3
|
作者：
Kobayashi, Wataru [1 ]
Tamaki, Hiroaki [4 ]
Akagi, Tetsuya [2 ]
Dohta, Shujiro [3 ]
Shimooka, So [5 ]
机构：
[1] Okayama Univ Sci, Dept Artificial Mech Engn, Kita Ku, 1-1 Ridai Cho, Okayama 7000005, Japan
[2] Okayama Univ Sci, Dept Intelligent Mech Engn, Kita Ku, 1-1 Ridai Cho, Okayama 7000005, Japan
[3] Okayama Univ Sci, Kita Ku, 1-1 Ridai Cho, Okayama 7000005, Japan
[4] SMC Corp, Prod Dev Div 1, 4-2-2 Kinunodai, Tsukubamirai, Ibaraki 3002436, Japan
[5] Okayama Univ, Grad Sch Nat Sci & Technol, Kita Ku, 2-1-1 Tsushima Naka, Okayama 7008530, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2022年 / 34卷 / 02期
关键词：
flexible electro-hydraulic cylinder; flexible electro-hydraulic spherical actuator; gear pump with encoder; sequential control; ROBOT;
D O I：
10.20965/jrm.2022.p0382
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Voluntary rehabilitation at home helps to prevent the joint contracture after medical treatment. Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electrohydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multiposition control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized.
引用
收藏
页码：382 / 389
页数：8
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