Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)
- 2001.04a
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- Pages.165-170
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- 2001
Two Linked-Robot Actuated by ER-Valve Systems
ER-Valve 작동기를 이용한 Two link Robot의 위치제어
Abstract
This paper presents performance analysis of two-linked robot system using ER (electro rheological) valve actuators. An ER fluid consisting of soluble chemical starches (particles) and silicone oil is made and its field-dependent yield stress is experimentally distilled using electro-viscometer. From this result, the design parameters of ER valve are determined. Based on parameter study, an ER valve system is designed and manufactured. Furthermore, the measured pressure drop is compared with predicted one obtained from the Bingham model. Following the evaluation of field-dependent pressure drop of ER valve, a two-linked robot system with two ER valve actuators is then constructed and its governing equation of motion is derived. From this equation, PID controller is established. Consequently, control performances of the proposed two-linked robot system featuring ER valve are evaluated.
Keywords