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Servo Control and Energetic Characterization of a Proportionally Injected Liquid-Fueled Actuator for Power-Autonomous Mobile Robots

[+] Author Affiliations
Kevin B. Fite, Michael Goldfarb

Vanderbilt University

Paper No. IMECE2005-81398, pp. 1543-1550; 8 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


This paper describes and characterizes a chemo-mechanical actuator that incorporates proportionally controlled injection valves for the direct injection of a hot-gas actuator. Proportional control of the liquid propellant provides for high-resolution control without sacrificing the maximum output power of the valves. The design of the proportional injection valves will be briefly discussed, along with the design of the actuator force controller. Experimental results of the force and position tracking of the actuator are presented. Finally, an energetic characterization of the actuator shows improvement relative to prior configurations, and shows marked improvement relative to state-of-the-art batteries and motors.

Copyright © 2005 by ASME



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