1P1-I06 足首関節機構のための直動型電気静油圧アクチュエータの開発(力制御型液圧駆動ロボット(2))

• 大月 智史

  東大

• 神永 拓

  東大

• 中村 仁彦

  東大

書誌事項

タイトル別名

• 1P1-I06 Development of Linear Electro-Hydrostatic Actuator for Ankle Joint Mechanism(Force Controlled Hydraulic Robots (2))

抄録

Force sensitivity is indispensable feature for a robot actuator. To enhance force sensitivity, backdrivability of an actuator is vital. We have been proposing intrinsically backdrivable electro-hydrostatic actuators(EHA) and their effectiveness in force sensing. However, in order to enhance the backdrivability, we sacrificed power efficiency of the actuator. To restrain power loss, we introduced a hydraulic cylinder in an EHA as an output. In this paper, we present design detail of linear EHA that is going to be used for the force sensitive ankle joint mechanism. Furthermore, we evaluated static characteristics of developed linear EHA.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _1P1-I06_1-_1P1-I06_3, 2014

  一般社団法人 日本機械学会

キーワード

• Electro-Hydrostatic Actuator
• Backdrivability
• Leg Mechanism

詳細情報

• CRID: 1390282680916175872
• NII論文ID: 110009968710
• DOI: 10.1299/jsmermd.2014._1p1-i06_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__1P1-I06_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可