Basic Performance of Bellows Actuator and its Application to a Force Sensor.

• HAYAKAWA Yasuhiro

  奈良工業高等専門学校

• KAWAMURA Sadao

  立命館大学理工学部

Bibliographic Information

Other Title

• 空気圧ベローズアクチュエータの基本性能と力センサーへの応用

Abstract

In this paper, we design a new pneumatic actuator using welded metal bellows. Since this actuator has no slide parts, there is no influence of friction forces. Therefore, it is expected that the actuator has good control performance for positioning and generating exact desired forces. First, we propose a positioning control law for the bellows actuator in which position and pressure of the bellows are controlled independently by dividing the control loop into two stages. It is experimentally shown that fine positioning can be easily obtained by the proposed control law. Furthermore pressure control performance is revealed through experimental results. Second, in order to use the bellows actuator as a force sensor (bellows sensor), we investigate the static and dynamic characteristics of the bellows actuator. From the experimental results, the capability of the bellows sensor becomes clear. Finally, the bellows actuator is applied to a sensing actuator and the effectiveness of the actuator is demons-trated through several experimental results.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 11 (5), 756-764, 1993

  The Robotics Society of Japan

Keywords

• Welded metal
• Bellow actuator
• Force sensor
• Sensing actuator

Details

• CRID: 1390001204725194752
• NII Article ID: 10006717806
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.11.756
• ISSN: 18847145
• ISSN: 02891824
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed