제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A Study on the Hydraulic Cylinder with built-in Displacement and Thrust Control Function

  • Kitagawa, Ato (Department of Mechanical and Control Engineering,Tokyo Institute of Technology) ;
  • Wu, Chunnan (Department of Mechanical and Control Engineering,Tokyo Institute of Technology) ;
  • Park, Sung-Hwan (Department of Mechanical and Control Engineering,Tokyo Institute of Technology)
  • Published : 2003.10.22
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Abstract

A novel actuator with built-in the displacement and the thrust control function is presented in this paper. This actuator is a kind of compact hydraulic cylinder system which consists of a hydraulic cylinder, a spool, a sleeve, a mechanical feedback mechanism and a stepping motor. The displacement and thrust is in proportion to the rotational angle of stepping motor by the mechanical feedback. In order to investigate characteristics of this actuator, simulation study and preliminary experiments are conducted. Through the preliminary experiment this actuator is very effective in the control for displacement and thrust. Also, it became obvious that the stability of system can be adjusted by using the restrictor with the effect of velocity feedback. Furthermore, this paper explained that a flexible compliance control could be realized by adjusting the feedback weighting in the actuator.

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