2A2-K14 内接歯車ポンプ-複動シリンダ型油圧式バイラテラルサーボアクチュエータの動特性(アクチュエータの機構と制御)

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  • 2A2-K14 The dynamic characteristic of an internal gear pump & double motion cylinder type hydraulic bilateral servo actuator(Mechanism and Control for Actuator)

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This paper reports on the development of a new hydraulic bilateral servo actuator which consists of a master internal gear pump and slave double motion cylinder. From the demands on portable and compact structured controllable actuator for robotic system, hydraulic bilateral servo actuator was developed. To improve the portability the system needed modification of the master unit. A prototype internal gear pump master unit was developed and tested of its dynamic characteristic of driving the slave cylinder piston. The piston rod was loaded with maximum 3kgf and the open loop control characteristic was measured for lump response. The system responded stably for loads less then 0.7kgf. However a feedback controller is required for better performance to apply the system for target robotic limb control.

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