書誌事項
- タイトル別名
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- Position Control of Air-cylinder with Piston Rotate Mechanism
- ピストン カイテン キコウ オ モツ エアシリンダ ノ イチ セイギョ
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A new technique to make a precise position control of air-cylinder using an electric motor to rotate a piston is proposed. By rotating a piston, the friction of cylinder and piston becomes significantly small, which is about 40% in starting and 60% in continuous moving of those without a rotation. The control method is basically a PD high-gain feedback, but with dead-zone near zero to make a standstill positioning stably quiet. A motor is controlled to produce a minimum but enough rotation according to an axial trip of piston, where the rotation is activated a bit earlier than a valve opening. With these proposed techniques, an experimental device achieves 0.2[mm] deviation in ramp motion, series of 0.02[mm] step motion. The device is stable under a load of 25% of theoretical maximum output force. The hardness of position control is 50 times larger than a simple valve closed stopping. In these experiments, a power consumption of the motor is relatively small, which is about 2% of cylinder output.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 30 (8), 797-803, 2012
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204727607424
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- NII論文ID
- 10031120466
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 024039642
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- 抄録ライセンスフラグ
- 使用不可