Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator
An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuator...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2013/128916 |
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| Summary: | An actuator is required to change its speed and
force depending on the situation. Using multiple actuators for
one driving axis is one of the possible solutions; however, there
is an associated problem of output power matching. This study
proposes a new active joint mechanism using multiple actuators.
Because the actuator is made of a flexible bag, it does not
interfere with other actuators when it is depressurized. The proposed
joint achieved coordinated motion of multiple actuators. This
report also discusses a new actuator which has dual cylindrical
structure. The cylinders are composed of flexible bags with
different diameters. The joint torque is estimated based on the
following factors: empirical formula for the flexible actuator
torque, geometric relationship between the joint and the actuator,
and the principle of virtual work. The prototype joint mechanism
achieves coordinated motion of multiple actuators for one axis.
With this motion, small inner actuator contributes high speed
motion, whereas large outer actuator generates high torque. The
performance of the prototype joint is examined by speed and
torque measurements. The joint showed about 30% efficiency
at 2.0 Nm load torque under 0.15 MPa air input. |
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| ISSN: | 1537-744X |