Transactions of The Korea Fluid Power Systems Society (유공압시스템학회논문집)
- Volume 1 Issue 1
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- Pages.17-22
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- 2004
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- 1738-3315(pISSN)
Improvement of Transient Response Characteristics of Pneumatic Manipulator using MR Brake
MR Brake를 이용한 공압 머니퓰레이터의 과도응답특성의 향상
Abstract
The goal of this paper is to improve the position control performance of pneumatic rotary actuator with variable brake using Magneto-Rheological Fluid. The air compressibility and the lack of damping of the pneumatic actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In this study, a variable rotary brake comprising Magneto-Rheological Fluid is equipped to the joint of a pneumatic manipulator. Experiments of step response have proved that the transient response of the manipulator could be improved compared with that of the conventional control algorithm by using a phase plane switching control algorithm.
Keywords
- Pneumatic Rotary Actuator;
- Magneto-Rheological Fluid;
- MR Brake;
- Phase Plane Switching Control;
- Manipulator
- 공압 로터리 액추에이터;
- MR유체;
- MR 브레이크;
- 위상면절환제어;
- 머니퓰레이터;