• Title, Summary, Keyword: pneumatic and hydraulic actuator

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Performance Improvement of Pneumatic Artificial Muscle Manipulators Using Magneto-Rheological Brake

  • Ahn, Kyoung-Kwan;Cong Thanh, TU Diep;Ahn, Young-Kong
    • Journal of Mechanical Science and Technology
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    • v.19 no.3
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    • pp.778-791
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    • 2005
  • A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

Development of Automation System for Component Inserting of Industrial PCB (산업용 PCB 부품삽입 자동화 시스템 개발)

  • Jeong Gu-Young;Yoon Myoung-Jong;Park Chang-Seog;Yu Kee-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.11
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    • pp.950-955
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    • 2005
  • A automatic component inserting system for industrial PCB is developed in this paper. This system has not been developed in Korea. Most domestic companies produce PCB manually. This process requires highly-skilled staff. Therefor, we developed a PCB inserting system for automation of the process and improved productivity. There are low parts in this system; press, table, tool change and control part. A hybrid press cylinder with pneumatic and hydraulic is used in the press part. The table part consists of pneumatic actuators, stepping motors and ball-screw mechanism. In the tool change part, upper tools can be exchanged automatically for the inserting of various components. The control part consists of motor drivers, PLCs and power supply.

Design and Implementation of the Cable Rod Hydraulic Actuator for Robotic Revolute Joints (로봇의 회전관절을 위한 케이블 로드를 갖는 유압 구동기 설계 및 구현)

  • Kim, Jungyeong;Park, Sangdeok;Cho, Jungsan
    • Journal of the Korean Society for Precision Engineering
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    • v.33 no.9
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    • pp.723-730
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    • 2016
  • This paper presents a cable-driven hydraulic actuator named Cable Rod Hydraulic Actuator (CRHA). The cable actuating system is attractive for designing a compact joint in robotic applications since it can be installed remotely from the joint. Recently, cable rods have been used in pneumatic area for inertia reduction. However, designing cable rods in hydraulics is challenging because it is difficult to achieve flexibility and endurance simultaneously under high pressure conditions. In this paper, the cable rod, which consists of a cable and jacket, is proposed to meet both requirements. To design the CRHA, we determined the design parameters, such as cylinder size, and selected the cable rod's material by friction and leakage test. Finally, comparisons experiments about step and frequency responses with conventional hydraulic actuators were performed to assess feasibility for robotic joints, and the results show that the proposed system has good bandwidth and fast response as robotic joints.

Study on the Pose Control of a 6 DOF Simulator with Pneumatic Cylinder Driving Apparatus (공기압실린더 구동장치를 이용한 6자유도 시뮬레이터의 자세제어에 관한 연구)

  • Jeong, J.H.;Ji, S.W.;Jang, J.S.
    • Journal of Power System Engineering
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    • v.11 no.3
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    • pp.59-65
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    • 2007
  • In this study, 6-DOF simulator using pneumatic cylinder driving apparatus was manufactured because a pneumatic cylinder driving apparatus is superior to electric driving motor and hydraulic actuator, which used in traditional 6-DOF simulator, in competitive price and acceleration performance, and, 6-DOF motion can be realized at a low price in case that relatively low load is imposed on the simulator. The possible range of pose control of the simulator was investigated by inverse kinematics, and, it was controlled by a linear controller derived from linear model of the simulator. The Experimental results show that the simulator follows given coordinate well.

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Performance Improvement of Pneumatic Artificial Muscle Manipulators using Magneto-Rheological Brake (MR Brake를 이용한 공압근육매니퓰레이터의 지능제어)

  • Ahn, Kyoung-Kwan;Thanh, T.D.C.;Ahn, Young-Kong
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • pp.572-575
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    • 2005
  • A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

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Intelligent Phase Plane Switching Control of Pneumatic Artificial Muscle Manipulators with Magneto-Rheological Brake

  • Thanh, Tu Diep Cong;Ahn, Kyoung-Kwan
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1983-1989
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    • 2005
  • Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

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Performance Evaluation of a Piezostack Single-stage Valve at High Temperatures (고온 환경에서의 압전작동기를 이용한 1단 밸브의 성능 평가)

  • Han, Chulhee;Kim, Wan Ho;Choi, Seung-Bok
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.27 no.2
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    • pp.168-174
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    • 2017
  • In this work, a piezostack single-stage valve (PSSV) system is proposed and its control performance is experimentally evaluated at high temperature up to $150^{\circ}C$. In order to achieve this goal, a PSSV system is designed and operating principle and mechanical dimensions are discussed. A displacement amplifier and an adjust bolt are used to generate target displacement and to compensate thermal expansion. Then, an experimental apparatus is constructed to evaluate control performance of the PSSV system. The experimental apparatus consists of a heat chamber, a hydraulic circuit, a pneumatic circuit, pneumatic-hydraulic cylinders, thermal insulator, electronic devices, sensors, data acquisition (DAQ) board and a voltage amplifier. The flow rate and displacement control performance of the valve system are evaluated via experiment. The experimental results are evaluated and discussed at different temperatures and frequencies showing the controlled flow rate and spool displacement.

Life Prediction of Elastomeric U Seals in Hydraulic/Pneumatic Actuators Using NSWC Handbook (NSWC를 활용한 유공압 액추에이터 U 형 씰의 수명예측)

  • Shin, Jung Hun;Chang, Mu Seong;Kim, Sung Hyun;Jung, Dong Soo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.38 no.12
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    • pp.1379-1385
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    • 2014
  • Even the rough prediction of the product test time before the lifetime test of mechanical component begins would be of use in estimating cost and deciding how to keep up with the test. The reliability predictions of mechanical components are difficult because failure or degradation mechanisms are complicated, and few plausible databases are available for lifetime prediction. Therefore, this study conducted lifetime predictions of elastomeric U seals that were respectively installed in a hydraulic actuator and a pneumatic actuator using lifetime models and a field database based on failure physics and an actual test database obtained from the NSWC handbook. To validate the results, the predicted failure rates were compared with the actual lifetime test results acquired in the lab durability tests. Finally, this study discussed an engineering procedure to determine the coefficients in the failure rate models and analyzed the sensitivity of each influential parameter on the seal lifetime.

Piezo-Composite Actuator for Control Surface of a Small Unmanned Air Vehicle (소형 무인 비행체 조종면 작동용 압전 복합재료 작동기 연구)

  • Yoon, Bum-Soo;Park, Ki-Hoon;Yoon, Kwang-Joon
    • Composites Research
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    • v.27 no.2
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    • pp.47-51
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    • 2014
  • The purpose of the present study is to develop lightweight and simple smart actuators in order to replace conventional hydraulic/pneumatic actuators, and to apply the developed actuators to the actuation systems of a small unmanned air vehicle. This research describes the procedures of design, manufacturing of the piezo-composite actuator, and the performance evaluation. From the test results of the developed devices, we found the possibility of piezo-composite actuator could be used as a control surface of a small UAV system. We have designed and manufactured two kinds of piezo-composite actuators, unimorph actuator and bimorph actuator. The manufactured actuators were evaluated through the performance testes. It was found that the bimorph type actuator showed more linear angle change for the same excitation voltage variation than unimorph type. It is expected that piezo-composite actuator has a possibility to be used not only as a control surface of small unmanned flying vehicle but also as a control surface actuator of a guided missile fin through the miniaturization of power supply and control system.