Construction and Control of Massive Hydraulic Micro - actuator - sensor Array
نویسنده
چکیده
Massive actuator arrays found their applications in robotics, pharmaceutics, aerospace, etc. Compared with electrically and/or pneumatically powered actuator array, hydraulic actuator has the comprehensive advantages of higher force density (i.e. force / actuation area), better controllability, and simpler remote control accessibility. This paper presents approaches to construct and control a massive hydraulic micro actuator array. The massive hydraulic actuator array is originally constructed for project “Digital Clay” (a novel hydraulic actuated human machine interface device) as the tangible human and machine interaction media. A pin-rod planar actuator array is investigated in this work. In this paper, designs of the practical kinematical structure are discussed, proposed control methods for the actuator array are introduced and experiment results are presented.
منابع مشابه
Control Issues of Digital Clay – Massive Hydraulic Actuator Array for Man-machine Communication
Digital Clay is an NSF funded project for human machine communication through a tangible haptic surface actuated using fluid power. Digital Clay’s hardware can be divided into three subsystems: massive-integrated actuator-sensor array, fluidic driving system, and control system. Focus of this paper is the control of some of the special mechanisms of Digital Clay. Specifically, the Fluid Matrix ...
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