抄録
Our paper describes a new type actuator composed of a pair of two bourdon tubes stnicture basically. The two bourdon tubes drove oscillatory motion antagonistically. The control system of a BTA (Bourdon Tubes Actuator) is positioning and force control.A 13TA is changed from pressure gauge to angle movement, and detected by resolvers attached to each axis. BTA making use of pneumatically had a function of actuator by using Ar. gas or CO2 gas. Especially 0.05 degree/pulse of positioning repeatability was realized by 13TA only and 0.2mm (Full scale 8mm for each axis) was obtained by the robot. As an application of a BTA, we established a Bio-robotics of pneumatic actuation with 3DOF. This paper is followed from JHPS' 1996, and reports for a very small force control and analysis of a BTA.
