[go: up one dir, main page]

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

Info

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
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2008/050057
Other languages
English (en)
French (fr)
Inventor
Yasunao Okazaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Corp
Panasonic Holdings Corp
Original Assignee
Panasonic Corp
Matsushita Electric Industrial Co Ltd
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 Corp, Matsushita Electric Industrial Co Ltd filed Critical Panasonic Corp
Priority to CN2008800006180A priority Critical patent/CN101541484B/zh
Priority to US12/306,995 priority patent/US8127659B2/en
Priority to JP2008555006A priority patent/JP4296232B2/ja
Publication of WO2008090753A1 publication Critical patent/WO2008090753A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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 Ceased 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
US12/306,995 US8127659B2 (en) 2007-01-22 2008-01-08 Compressible fluid pressure actuator driving mechanism and control apparatus thereof
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

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 Ceased 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) CN102744726B (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

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN110282032B (zh) * 2019-07-29 2024-10-01 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

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0733587U (ja) * 1993-11-30 1995-06-20 株式会社明電舎 ロボット用ハンド
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

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57189749A (en) 1981-05-13 1982-11-22 Daikin Ind Ltd Workpiece clamping device
EP0123558B1 (en) * 1983-04-25 1990-11-14 Bridgestone Corporation Pneumatic actuator for manipulator
US4739692A (en) * 1984-05-29 1988-04-26 Fluidic Motion Corporation Liquid contractility actuator
JPS61109694A (ja) 1984-11-01 1986-05-28 福田金属箔粉工業株式会社 断裁機
JPH02256299A (ja) 1989-03-29 1990-10-17 Far East Eng Kk 電子部品の基板への挿入方法及び装置
JP2943934B2 (ja) * 1990-03-20 1999-08-30 サンデン株式会社 容量可変型斜板式圧縮機
US5351602A (en) * 1992-08-05 1994-10-04 The United States Of America As Represented By The Secretary Of The Army Jointed assembly actuated by fluid pressure
JPH0727411A (ja) 1993-07-14 1995-01-27 Shin Nippon Kucho Kk 逆流防止ダンパを備えた送風設備
JPH0733587A (ja) 1993-07-20 1995-02-03 Toshiba Corp 単結晶の製造方法と単結晶引上げ装置
US6689074B2 (en) * 2000-03-28 2004-02-10 Seiko Epson Corporation Wearable muscular-force supplementing device
JP3923504B2 (ja) * 2003-08-29 2007-06-06 松下電器産業株式会社 圧縮性流体圧アクチュエータ
JP4536349B2 (ja) * 2003-09-22 2010-09-01 パナソニック株式会社 弾性体アクチュエータを用いた多自由度のロボットアームの制御装置及び制御方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0733587U (ja) * 1993-11-30 1995-06-20 株式会社明電舎 ロボット用ハンド
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

Cited By (6)

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

Similar Documents

Publication Publication Date Title
WO2008090753A1 (ja) 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
WO2008071437A3 (de) Adaptive leerwegreduzierung
WO2007084965A3 (en) Robotic vehicle controller
WO2009006201A3 (en) Track trencher propulsion system with component feedback
WO2007118177A3 (en) Remotely adjustable tissue displacement device
WO2008105502A1 (ja) 油圧作業機械の安全装置
WO2007133691A3 (en) Vehicle hydraulic system
TW200714429A (en) Automatic machine system and its communication control method
WO2008117423A1 (ja) エレベータのブレーキ装置
WO2011078587A3 (ko) 건설기계의 선회 브레이크 제어장치
WO2009150511A3 (en) Occupant protection device
WO2013024019A3 (de) Notbremseinrichtung für ein schienenfahrzeug, bremsanlage für ein schienenfahrzeug sowie schienenfahrzeug
EP1972551A3 (en) Cabin pressure control system dual valve control and monitoring architecture
WO2008071392A3 (de) Vorrichtung und verfahren zur energierückgewinnung
ATE413534T1 (de) Hydraulisches system
ATE485982T1 (de) Druckmittelbetätigtes bremssystem mit redundanter steuerung der bremsaktuatoren
WO2010065127A3 (en) Devices, systems and methods for delivering fluid to tissue
WO2013174965A3 (de) Verfahren zur steuerung einer druckluftbremseinrichtung eines schienenfahrzeugs im falle einer zwangs-, schnell- oder notbremsung
WO2012150541A3 (en) A device for movement and action in explosive environment
WO2006034375A3 (en) Materials handling vehicle comprising an electronically controlled valve
EP2302179A3 (en) Oil supply device for vehicle
WO2006135743A3 (en) Electro-hydraulic devices
WO2009083223A3 (de) Antriebssystem
WO2004040158A3 (de) Einfachwirkender aktuator mit schnellöffnendem hydraulikventil zur steuerung einer kupplung
WO2008009073A8 (en) Method for controlling a compressed air unit and a controller and compressed air unit for applying such a method

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200880000618.0

Country of ref document: CN

WWE Wipo information: entry into national phase

Ref document number: 2008555006

Country of ref document: JP

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08702937

Country of ref document: EP

Kind code of ref document: A1

DPE2 Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101)
WWE Wipo information: entry into national phase

Ref document number: 12306995

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08702937

Country of ref document: EP

Kind code of ref document: A1