小形ＥＲアクチュエータの開発およびワイヤ駆動システムヘの応用に関する研究 [in Japanese] Study on Development of Miniature ER Actuators and Their Application to Wire Drive System. [in Japanese]
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Many kinds of actuators are used in robots or mechatronics systems. The torque/inertia ratio is one of the indexes that show the characteristics of the actuator. Since the actuator that has large torque/inertia ratio can respond very fast, it is suitable for haptic interface. In this study, rapid-response miniature ER actuators are proposed, and modeling and control of the wire drive system using miniature ER actuators are discussed. The ER fluids are kinds of functional fluids. The ER actuator can realize large torque/inertia ratio and rapid response. Firstly, multiple-disk-type miniature ER actuators are developed, and its static and dynamic characteristics are investigated. Next, a wire drive system is constructed by using miniature ER actuators and the transfer function of the system is derived. Finally we design the PD feedback position control system. Frequency response and time response experiments are conducted. It is verified that the feedback control system can be designed by using the derived model.
- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 67(655), 759-766, 2001
The Japan Society of Mechanical Engineers