An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator

Author

Henri, Paul D. ; Hollerbach, John M. ; Nahvi, Ali

Author_Institution

Bell-Northern Res., Ottawa, Ont., Canada

Volume

14

Issue

4

fYear

1998

fDate

8/1/1998 12:00:00 AM

Firstpage

601

Lastpage

611

Abstract

In analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT dextrous hand has been performed. An accurate dynamic model has been developed and verified which includes detailed representation of the jet pipe element, orifice areas and fluid flows. The effects and modeling of hysteresis in the jet pipe are discussed. Actuator saturation is shown to be an obstacle in achieving high bandwidth. Theoretical and experimental results are presented for frequency response and time-domain force tracking

Keywords

actuators; electropneumatic control equipment; force control; frequency response; hysteresis; manipulators; servomechanisms; time-domain analysis; tracking; Utah/MIT dextrous hand; electropneumatic actuator; fluid flows; force tracking; frequency response; hysteresis; jet pipe; orifice; robot hands; saturation; servoactuator; time-domain analysis; Actuators; Bandwidth; Fluid dynamics; Fluid flow; Fluid flow control; Frequency response; Hysteresis; Orifices; Performance analysis; Time domain analysis;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.704229

Filename

704229