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This paper proposes a high-safety power-assisted cart that can be operated on a slope by applying little-changed manual power even if the inclination changes. In this cart, balancing operation to compensate for load increments due to the increase in the inclination by using a spring is achieved in the safe state with the cart held by the brake application, while dangerous moving operation is performed...
The passive dynamic control (PDC) is a mechanical system control method which places the most importance on safety. It positively uses brakes having variable characteristics. In this paper, the PDC is applied to an antagonistic two-link pneumatic artificial muscle manipulator set on a vertical plane. Since the original PDC has limitations of capacity, the authors propose an improved PDC which introduces...
Various types of power assist systems are desired in the fields of manufacturing, farming, welfare, etc. In the direct handling which applies force directly to a heavy object, operating force is usually detected by using a force sensor. However, the force sensor is deficient in that, for example, it is sensitive to noise. In this paper, the authors propose a direct-handling enabled power assist system...
Various power assist systems are used in the fields of manufacturing and welfare. Those power assist systems that handle a heavy object directly by the manual actuating force often use a force sensor to detect the moving direction. However, the force sensor has problems, including one that it is susceptible to noise. In the circumstances, this paper proposes a motor-driven device for supplying constant...
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a brake having variable characteristics. In this paper, the PDC is applied to a two-link pneumatic artificial muscle manipulator. First, new mechanism in which two arms are controlled separately is proposed, and its control method based on operation of MR brakes is described...
The passive dynamic control (PDC) is a mechanical system control method based on an inherently safe design means using a brake mechanism effectively. Since control only with an actuator does not have a stopping mechanism, this kind of control cannot prevent deviation from the target trajectory in case of trouble. On the other hand, the PDC follow-up control can prevent deviation from the target trajectory...
Geological surveying of the ocean floor holds considerable promise for the exploitation of mineral resources in the near future. However, new tools are required to carry out the surveys in an expedite manner. As a contribution to this goal, this paper advances the concept of a robotic fish-like device equipped with acoustic sensors to aid in the process of geological surveying at sea.
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control...
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design positively using the braking force. This paper proposes enclosing control in which deviation from a target trajectory is controlled by a brake mechanism. First, the principle of the enclosing control is described. Second, an experimental setup using two PDC pneumatic cylinders equipped with...
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