하이브리드형의 공압 서비스 로봇의 개발

Abstract

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weighl and payload-lo-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new sci.ial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, wc can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, tlie pneumatic service robot is evaluated and verified.