| Budget Amount *help |
¥17,550,000 (Direct Cost: ¥13,500,000、Indirect Cost: ¥4,050,000)
Fiscal Year 2019: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2018: ¥7,800,000 (Direct Cost: ¥6,000,000、Indirect Cost: ¥1,800,000)
Fiscal Year 2017: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
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| Outline of Final Research Achievements |
A small number of small servomotor-driven pumps were embedded in an inexpensive low-pressure hydraulic open circuit. This "hydraulic hybrid servo booster" circuit was applied to a multi-axis robot that can precisely control a high load as required by the pressure boost effect. We developed a compensation algorithm based on mathematical analysis of the realization circuit for various situations of the robot, clarified the performance of the robot in terms of both position and force control, and actually applied it to a manipulator. In addition, we also came up with the invention of a hydraulic drive circuit suitable for in-vehicle use and a practical hydraulic drive circuit that were not initially planned.
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