WO2008090753A1 - 圧縮性流体圧アクチュエータ駆動機構およびその制御装置 - Google Patents

圧縮性流体圧アクチュエータ駆動機構およびその制御装置 Download PDF

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Publication number
WO2008090753A1
WO2008090753A1 PCT/JP2008/050057 JP2008050057W WO2008090753A1 WO 2008090753 A1 WO2008090753 A1 WO 2008090753A1 JP 2008050057 W JP2008050057 W JP 2008050057W WO 2008090753 A1 WO2008090753 A1 WO 2008090753A1
Authority
WO
WIPO (PCT)
Prior art keywords
fluid pressure
controlling
compressible fluid
drive mechanism
actuators
Prior art date
Application number
PCT/JP2008/050057
Other languages
English (en)
French (fr)
Inventor
Yasunao Okazaki
Original Assignee
Panasonic Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Corporation filed Critical Panasonic Corporation
Priority to CN2008800006180A priority Critical patent/CN101541484B/zh
Priority to JP2008555006A priority patent/JP4296232B2/ja
Priority to US12/306,995 priority patent/US8127659B2/en
Publication of WO2008090753A1 publication Critical patent/WO2008090753A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7052—Single-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)

Abstract

　拮抗駆動により関節駆動される複数の圧縮性流体圧アクチュエータ（６ａ，６ｂ）の流体圧を主流体圧制御手段（２３）により制御し、衝突時の急制動時にアクチュエータ近傍の近接流体圧高速制御手段（９ａ，９ｂ，２０ａ，２０ｂ）によりアクチュエータの高速に加圧又は減圧を行い急加速又は急減速を行なう。
PCT/JP2008/050057 2007-01-22 2008-01-08 圧縮性流体圧アクチュエータ駆動機構およびその制御装置 WO2008090753A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2008800006180A CN101541484B (zh) 2007-01-22 2008-01-08 压缩性流体压力促动器驱动机构及其控制装置
JP2008555006A JP4296232B2 (ja) 2007-01-22 2008-01-08 圧縮性流体圧アクチュエータ駆動機構
US12/306,995 US8127659B2 (en) 2007-01-22 2008-01-08 Compressible fluid pressure actuator driving mechanism and control apparatus thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007011393 2007-01-22
JP2007-011393 2007-01-22

Publications (1)

Publication Number Publication Date
WO2008090753A1 true WO2008090753A1 (ja) 2008-07-31

Family

ID=39644328

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/050057 WO2008090753A1 (ja) 2007-01-22 2008-01-08 圧縮性流体圧アクチュエータ駆動機構およびその制御装置

Country Status (4)

Country Link
US (1) US8127659B2 (ja)
JP (1) JP4296232B2 (ja)
CN (2) CN101541484B (ja)
WO (1) WO2008090753A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011086638A1 (ja) * 2010-01-15 2011-07-21 パナソニック株式会社 弾性体アクチュエータ駆動機構の制御装置及び制御方法、並びに、制御プログラム
JP2020512203A (ja) * 2017-03-30 2020-04-23 ソフト ロボティクス， インコーポレイテッド ソフトロボットアクチュエータのためのサーボ空気圧制御システム

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US8573534B2 (en) * 2010-04-29 2013-11-05 Techno-Sciences, Inc. Fluidic artificial muscle actuation system for trailing-edge flap
DE102011106214A1 (de) * 2011-06-07 2012-12-13 Brötje-Automation GmbH Endeffektor
US9611740B2 (en) * 2013-11-22 2017-04-04 L & B Manufacturing, Inc. Pneumatic actuators
US9194403B2 (en) 2014-02-23 2015-11-24 Dylan Pierre Neyme Modular hinged joint for use with agonist-antagonist tensile inputs
CN103895030B (zh) * 2014-03-21 2016-08-17 上海大学 一种双气动人工肌肉驱动的单自由度关节机构
US10189159B1 (en) * 2015-04-06 2019-01-29 X Development Llc Methods and systems for detecting states of operation of a robotic device
DE102015009177A1 (de) 2015-07-09 2017-01-12 Broetje-Automation Gmbh Verfahren zum Herstellen eines Faser-Metall-Laminatbauteils eines Flugzeugs
US20170234337A1 (en) * 2016-02-12 2017-08-17 President And Fellows Of Harvard College Amplifying the response of soft fluidic actuators by harnessing snap-through instabilities
CN105522586B (zh) * 2016-02-22 2018-01-12 北京锐洁机器人科技有限公司 半导体机器人末端执行机构
JP7073620B2 (ja) * 2016-10-31 2022-05-24 ヤマハ株式会社 アクチュエータの駆動制御装置
CN109732583B (zh) * 2019-01-18 2021-08-24 哈尔滨工业大学 一种基于定位环和球定位的摄像机跟随运动机器人
JP2020176664A (ja) * 2019-04-16 2020-10-29 株式会社ブリヂストン 流体圧アクチュエータ及び検出ユニット
CN110282032A (zh) * 2019-07-29 2019-09-27 江苏徐工工程机械研究院有限公司 驾驶室举升系统和车辆
CN112518800B (zh) * 2020-10-22 2022-07-29 广东韶钢工程技术有限公司 一种柔性机器人用三态锁紧装置

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JP2005083447A (ja) * 2003-09-08 2005-03-31 Matsushita Electric Ind Co Ltd 膨張収縮構造体及び膨張収縮構造体の制御装置

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Publication number Priority date Publication date Assignee Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011086638A1 (ja) * 2010-01-15 2011-07-21 パナソニック株式会社 弾性体アクチュエータ駆動機構の制御装置及び制御方法、並びに、制御プログラム
US8253367B2 (en) 2010-01-15 2012-08-28 Panasonic Corporation Control apparatus, control method, and control program for elastic actuator drive mechanism
JP5043239B2 (ja) * 2010-01-15 2012-10-10 パナソニック株式会社 弾性体アクチュエータ駆動機構の制御装置及び制御方法、並びに、制御プログラム
JPWO2011086638A1 (ja) * 2010-01-15 2013-05-16 パナソニック株式会社 弾性体アクチュエータ駆動機構の制御装置及び制御方法、並びに、制御プログラム
JP2020512203A (ja) * 2017-03-30 2020-04-23 ソフト ロボティクス， インコーポレイテッド ソフトロボットアクチュエータのためのサーボ空気圧制御システム
US11389955B2 (en) 2017-03-30 2022-07-19 Soft Robotics, Inc. Servo-pneumatic control systems for soft robotic actuators
JP7244925B2 (ja) 2017-03-30 2023-03-23 ソフト ロボティクス， インコーポレイテッド ソフトロボットアクチュエータのためのサーボ空気圧制御システム

Also Published As

Publication number Publication date
CN102744726B (zh) 2014-12-03
CN102744726A (zh) 2012-10-24
JPWO2008090753A1 (ja) 2010-05-20
CN101541484A (zh) 2009-09-23
US20090324366A1 (en) 2009-12-31
JP4296232B2 (ja) 2009-07-15
US8127659B2 (en) 2012-03-06
CN101541484B (zh) 2012-09-19

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