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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| _version_ | 1832561013522694144 |
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| author | Hitoshi Kimura Takuya Matsuzaki Mokutaro Kataoka Norio Inou |
| author_facet | Hitoshi Kimura Takuya Matsuzaki Mokutaro Kataoka Norio Inou |
| author_sort | Hitoshi Kimura |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-56c057eb7b0b4de797ea22b5cff52da9 |
| institution | Kabale University |
| issn | 1537-744X |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-56c057eb7b0b4de797ea22b5cff52da92025-02-03T01:26:10ZengWileyThe Scientific World Journal1537-744X2013-01-01201310.1155/2013/128916128916Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural ActuatorHitoshi Kimura0Takuya Matsuzaki1Mokutaro Kataoka2Norio Inou3Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Ookayama 2-12-1, Meguro-ku, Tokyo 1528552, JapanDepartment of Mechanical and Control Engineering, Tokyo Institute of Technology, Ookayama 2-12-1, Meguro-ku, Tokyo 1528552, JapanDepartment of Mechanical and Control Engineering, Tokyo Institute of Technology, Ookayama 2-12-1, Meguro-ku, Tokyo 1528552, JapanDepartment of Mechanical and Control Engineering, Tokyo Institute of Technology, Ookayama 2-12-1, Meguro-ku, Tokyo 1528552, JapanAn 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.http://dx.doi.org/10.1155/2013/128916 |
| spellingShingle | Hitoshi Kimura Takuya Matsuzaki Mokutaro Kataoka Norio Inou Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator The Scientific World Journal |
| title | Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator |
| title_full | Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator |
| title_fullStr | Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator |
| title_full_unstemmed | Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator |
| title_short | Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator |
| title_sort | active joint mechanism driven by multiple actuators made of flexible bags a proposal of dual structural actuator |
| url | http://dx.doi.org/10.1155/2013/128916 |
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