2006 年 2006 巻 51 号 p. 49-54
A new spring type actuator is presented in which controls are possible by using usual control methods such as PID control. The actuator consists of a usual helical coil spring and a number of iron (ferrite) particle layers inside. The iron layers are made of silicon based adhesive material involving iron particles. The layers are pasted to the coil spring with a certain air gap between each layer. To achieve both extensive and compressive motions, a permanent magnet is attached to the top of the spring and electromagnet to the base, and the motion of the top of the actuator is controlled by electric currents in the coil of the electromagnet. In this paper, a method of forming the actuator is presented, and its characteristics are discussed experimentally. The present actuator performs well under the control. Especially, the size is small in comparison with such as moving coil actuators, the work area is large enough, and the controlled accuracy is sufficient under the position- and vibration-control.