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

页码：382 / 389

页数：8

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