| 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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| 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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