한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제15권12호
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- Pages.142-147
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- 1998
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
공압 구동식 로봇 손을 위한 소형 4/3-way 비례제어 밸브의 설계 및 실험
Design and Experiment of a Miniature 4/3-Way Proportional Valve for a Servo-Pneumatic Robot Hand
초록
Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.
키워드