Static and dynamic characteristics of McKibben pneumatic actuator for realization of stable robot motions

2011 ◽  
Author(s):  
Y. Sugimoto ◽  
K. Naniwa ◽  
K. Osuka
Keyword(s):  
Dynamic Characteristics ◽  
Pneumatic Actuator ◽  
Static And Dynamic Characteristics

Pneumatic Bellows Actuator with Force Sensing Ability and Its Application to a Pneumatic Robot

1995 ◽  
Vol 7 (6) ◽  
pp. 474-482 ◽  
Author(s):  
Yasuhiro Hayakawa ◽  
◽  
Sadao Kawamura ◽  
Keyword(s):  
Dynamic Characteristics ◽  
Pressure Sensors ◽  
Force Sensor ◽  
Experimental Results ◽  
Pneumatic Actuator ◽  
Force Sensing ◽  
Friction Forces ◽  
Static And Dynamic Characteristics ◽  
Metal Bellows ◽  
External Forces

In this paper, we design a new pneumatic actuator using metal bellows. Because this actuator has no sliding parts, there is no influence of friction forces. Therefore, it is expected that the actuator has good performance in positioning and generating exact desired forces. Furthermore, because external forces can be precisely measured through pressure sensors, the bellows actuator works as a force sensor. In order to use the bellows actuator as a force sensor (bellows sensor), we investigate the static and dynamic characteristics of the bellows actuator. Based on these experimental results, the capability of the bellows sensor becomes clear. We use the bellows actuator as a sensing actuator which works as a sensor and an actuator simultaneously. In addition, the effectiveness of the actuator is demonstrated through several experimental results. We design one joint of a robot which is antagonistically activated by the two bellows actuators. Based on some experimental results, we disclose the static and dynamic characteristics of the proposed robot and confirm that it can move flexibly following external forces by utilizing the force sensing ability.

Invited PaperTemperature dependence of SiGe HBT static and dynamic characteristics

1998 ◽  
Vol 08 (PR3) ◽  
pp. Pr3-81-Pr3-86
Author(s):  
F. Aniel ◽  
N. Zerounian ◽  
A. Gruhle ◽  
C. Mähner ◽  
G. Vernet ◽  
...  
Keyword(s):  
Dynamic Characteristics ◽  
Static And Dynamic Characteristics ◽  
Sige Hbt

Analysis and Optimization of the Static and Dynamic Characteristics of Head Frame

2011 ◽  
Vol 418-420 ◽  
pp. 2055-2059 ◽  
Author(s):  
Yu Lin Wang ◽  
Na Jin ◽  
Kai Liao ◽  
Rui Jin Guo ◽  
Hu Tian Feng
Keyword(s):  
Machine Tool ◽  
Dynamic Characteristics ◽  
Maximum Stress ◽  
Dynamic Performance ◽  
Mode Shapes ◽  
Cnc Machine ◽  
Static And Dynamic Characteristics ◽  
Maximum Deformation ◽  
Improvement Measures ◽  
Optimal Measure

The head frame is a key component which plays a supportive and accommodative role in the spindle system of CNC machine tool. Improving the static and dynamic characteristics has profound significance to the development of machine tool and product performance. The simplified finite element modal is established with ANSYS to carry out the static and modal analysis. The results showed that the maximum deformation of the head frame was 0.0066mm, the maximum stress was 3.94Mpa, the deformation of most region was no more than 0.0007mm, which all verified that the head frame had a good stiffness and deforming resistance; several improvement measures for dynamic performance were also proposed by analyzing the mode shapes, and the 1st order natural frequency increased 7.33% while the head frame mass only increased 1.58% applying the optimal measure, which improved the dynamic characteristics of the head frame effectively.

Modeling and Simulation of Hydromechanically Constant Power Controlled Swash Plate Pumps

2006 ◽  
Author(s):  
Saad A. Kassem ◽  
Yasser H. Anis
Keyword(s):  
Mathematical Models ◽  
Modeling And Simulation ◽  
Dynamic Characteristics ◽  
Theoretical Study ◽  
Constant Power ◽  
Static And Dynamic Characteristics ◽  
Valve Spring ◽  
Lever Arm ◽  
Swash Plate ◽  
Static Performance

This paper presents a theoretical study of the performance of constant power operated swash plate pumps equipped with hydromechanical controllers incorporating either pivoted levers or two feedback springs. Mathematical models of these controllers are derived and used to simulate the static and dynamic characteristics of a small pump of 40 cc/rev geometric volume. Results show that the controller with the pivoted lever renders better static and dynamic characteristics compared to the controllers with feedback springs. Results also show that changing the power through varying the lever arm length is preferable than varying the valve spring initial compression, when the dynamic characteristics of the pumps with controllers of pivoted levers are considered. The effect of the valve spring initial compression on the static performance of a pump incorporating a controller with two feedback springs is also investigated.

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