Development and control of a leg mechanism for a movable working machine on a steep incline
| Project/Area Number |
23603006
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Biomass energy
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| Research Institution | Kanagawa University |
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Principal Investigator |
SUZUKI KENJI 神奈川大学, 工学部, 助教 (70322534)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | 水圧駆動システム / 比例制御弁 / 水圧シリンダ / 水圧揺動モータ / リンク機構 / 水圧駆動 / 脚機構 / 水圧比例弁 / 揺動アクチュエータ / サーボシステム |
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| Research Abstract |
The purpose of this study is the construction and control of a leg mechanism driven by water hydraulics. In this study, the components of a water hydraulic control system were developed and the construction and control of the control system that use them were performed. First, the water hydraulic proportional control valve was developed. Then, a water hydraulic cylinder control system using it was constructed, and feedback control of the cylinder displacement was performed. Moreover, two degree-of-freedom linkage mechanism which uses the water hydraulic cylinder and the water hydraulic oscillating motor was built, and angle control of each joint was performed. Furthermore, vane-type 270-degree oscillating motor was newly designed for water hydraulics. The designed oscillating motor was fabricated and it was able to operate smoothly.
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Report
(4 results)
Research Products
(22 results)
