Study of a Pneumatic Robot Utilizing a BTA (Bourdon Tube Actuator)

摘要

The Pneumatic BTA (Bourdon Tube Actuator) is a sticksliplew actuator which utilize a pair of spiral bourdon tubes as a functional element and obtains displacement by air pres.sure. Compared with an electric motor and so on, the BTA is smaller and lighter; moreover, it generates a high torque and accurate positioning.Before now Alias been difficult for a cylindrical type pneumatic actuator to control accurate positioning because of sliding friction. Our laboratory developed a three-axis driving robot with 4-bar linkage utilizing a pneumatic BTA. We obtained owillating of ± 15 degrees and minimum sensitivity 0.6 × 10-2 degree. A pneumatic BTA robot system makes posble minute action and accurate positioning.