Design and Experiment of a miniature 413-way proportional valve for a servo-pneumatic robot hand

공압구동식 로봇손을 위한 소형 4/3-Way 비례제어밸브의 설계 및 실험

In this past decade, industrial robot have substituted human workers successfully in certain areas, however, the applications are limited due to the shortcoming in their mechanism and control strategies. Many researchers, therefore, have focused on improving the mechanical and sensory capabilities. Developing mult-degree-of-freedom end effectors, in other words robot hands, is one of the topics that researchers have begun to improve the limitation. A set of direct drive type servo-pneumatic finger joint has been developed for a dexterous robot hand. To control the pneumatic finger joints, a prototype 4/3-way proportional control valve has been designed and tested as a preliminary, research for the control of the pneumatic finger joints. A series of experiments have been conducted to verify the performance characteristics of the valve and the conventional proportional error contral with minor-loop compensation has been used to control the anguar position of the finger joints.