Development of Hybrid-type Multi-Port Servo Valve for Spherical Soft Actuator Using Three Extension type Flexible Pneumatic Actuators

Takumi KOBAYASHI, Tetsuya AKAGI, Shujiro DOHTA, Takashi SHINOHARA, Masashi YOKOTA

In a typical pneumatic system to drive soft actuators, a control valve is the most heavy and expensive device. Therefore, a compact and inexpensive control valve has been desired. To solve such a problem, not only improving the valve itself but also reducing the number of valves can be considered. In this study, to decrease the number of valves to drive a complex pneumatic actuator with many chambers, a slide-gate mechanism type multi-port servo valve that can switch multiple ports and adjust the flow rate of many actuators simultaneously was proposed and tested. The tested valve consists of a rotational cam, multi-port, two servo motors for switching and adjusting, and so on. In this paper, the construction and operating principle of the tested valve are described. Furthermore, the radial bending/extension type flexible robot arm driven by the tested valve is also reported.

Transactions of the JFPS/ JFPS International Journal of Fluid Power System

日本フルードパワーシステム学会

Vol.18

No.1

22

28

1881-5286

10.5739/jfpsij.18.22

https://www.jstage.jst.go.jp/article/jfpsij/18/1/18_22/_pdf/-char/en