Control of a planar fine positioner actuated by metal bellows

Badano, Fernand; Bétemps, M.; Thomasset, Daniel

doi:10.1016/0005-1098(94)90071-x

Cited by 4 publications

(1 citation statement)

References 15 publications

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“…The bellows actuators have already been implemented in many applications: anthropomorphic hand with independently controlled phalanx actuated by fluid-driven bellows, placed in the joints [3]; microgripper with three non-metallic fingers as corrugated tubes, having spatial movements capabilities [4]; hyper redundant robotic arm composed of multiple segments, each based on elastic elements [5]; in-pipe inspection and exploration mobile minirobot with three axial bellows [6], a.s.o. In addition, it has been proposed new solutions to achieve precise positioning systems, [7,8].…”

Section: Introductionmentioning

confidence: 99%

Positioning Systems Actuated by Corrugated Tube Elements

Jişa

Chetran

Mândru

2014

AMM

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The purpose of this paper is to validate the actuation of the positioning systems with a new type of pneumatic actuators based on corrugated tubular elements. The latter are also called bellows, usually operating as sealing elements or as pressure transducers.The CAD models of two positioning systems actuated with corrugated tube elements are given. The first one, with one degree of freedom, is driven by two bellows disposed in antagonist way, powered with different pressures, offering different displacements and adjustable stiffness. The second positioning system contains two overlapping platforms that can slide on two axis, (having two degrees of fredom), their operation being performed individualy with two pairs of bellows arranged in antagonist way, on two levels, disposed at 900 from each other. Pneumatic diagrams for the two positioning systems are given. Experimental prototypes are developed and the results of the first tests are presented.

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