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A Study and Development of Fluid Cobot

[+] Author Affiliations
Witaya Wannasuphoprasit, Supaphon Chanphat

Chulalongkorn University, Bangkok, Thailand

Paper No. IMECE2002-33840, pp. 889-894; 6 pages
doi:10.1115/IMECE2002-33840
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

Cobots are a class of passive robotic devices that utilize steering joints to impose nonholonomic constraints on their joints. These steering joints are a subclass of transmission called Continuous Variable Transmission, CVT. Here we purpose to develop a cobot that utilizes a CVT joint based on flow rate divider of pneumatic actuators. We studied characteristics of a valve and a cylinder. We designed and built a multi channel flow divider. Furthermore, to test our concept we constructed a simple x-y pneumatic cobot.

Copyright © 2002 by ASME

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