유공압시스템학회논문집 (Transactions of The Korea Fluid Power Systems Society)
- 제1권1호
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- Pages.17-22
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- 2004
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- 1738-3315(pISSN)
MR Brake를 이용한 공압 머니퓰레이터의 과도응답특성의 향상
Improvement of Transient Response Characteristics of Pneumatic Manipulator using MR Brake
초록
The goal of this paper is to improve the position control performance of pneumatic rotary actuator with variable brake using Magneto-Rheological Fluid. The air compressibility and the lack of damping of the pneumatic actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In this study, a variable rotary brake comprising Magneto-Rheological Fluid is equipped to the joint of a pneumatic manipulator. Experiments of step response have proved that the transient response of the manipulator could be improved compared with that of the conventional control algorithm by using a phase plane switching control algorithm.
키워드