| Budget Amount *help |
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1994: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1993: ¥1,400,000 (Direct Cost: ¥1,400,000)
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| Research Abstract |
Hydraulic actuators driven by the multilayred piezoelectric elements were investigated in this research, as a basis to develop a new light-weight small-size actuators for robotic and mechatoronic devices. Results of the research are summarized as follows.
1.Enlargement of the output power of a piezoelectric pump :
A piezoelectric pump had been made by author before the grant-in-aid was given, and its maximum pumping power and energy efficiency of 34W and 27% had been obtained. In this research, they were increased to 62W and 35%, respectively, by the use of appropriate length of the resonant pipes and the use of proper area of the diaphragm.
2.Position control of a hydraulic actuator system :
A hydraulic actuator system was constructed using the piezoelectric pump mentioned above, a hydraulic cylinder and a control valve. The energy input to this system was only the electrical power to drive the pump, since the pilot pressure for the control valve was generated in the pump as the maximum pressure in the pumping chamber. A controller including the disturbance observer was designed to the actuator system. The performance of position control accuracy and response frequency were approximately 10mum and 10Hz, respectively.
3.Simulation of the hydraulic actuator :
A set of mathematical models for the each element of the actuator system was constructed in this research, and its veridity was confired by the comparison with the simulation results and the experimental results. A parametric optimization of the piezoelectric pump was also carried out for the various values of the cross sectional area of the diaphrage and the pumping valves, and the enlargement of the pumping output by 2.6 times was predicted.
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