| Project/Area Number |
26540134
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent robotics
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| Research Institution | Osaka University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
NODA Tomoyuki 株式会社国際電気通信基礎技術研究所, 脳情報研究所, 主任研究員 (30588661)
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| Project Period (FY) |
2014-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | 空電ハイブリッドアクチュエータ / ダイレクトドライブ / 力制御 |
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| Outline of Final Research Achievements |
Conventional hybrid actuators can achieve a better force/torque bandwidth than a single principle actuator without losing back-drivability. However, hybrid actuators occupy space at least equal to the sum of the volumes of two or more actuators and multiple transmissions. In this research, we developed, and controlled an integrated pneumatic-electromagnetic hybrid linear actuator (iPEHLA). In the integrated design, hybrid components of an air cylinder and a linear motor were arranged around a single shaft, and the pneumatic and electromagnetic actuators shared the same moving parts (i.e., piston and moving part) and internal cylindrical spaces (i.e., cylinder and stator). Consequently, space required was less than the sum of the volumes of the two actuators. The force control performances of the iPEHLA under pneumatic and hybrid actuation were compared by using a prototype. The experimental results demonstrated that the novel design maintained its hybrid properties.
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