Fusion Hybrid Linear Actuator: Concept and Disturbance Resistance Evaluation (IMAGE)

The University of Electro-Communications

Fusion Hybrid Linear Actuator: Concept and Disturbance Resistance Evaluation

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In the comparison of the root mean square errors of the contact force, three conditions were examined: 1) P-N (Pneumatic Force + No Friction Compensation) Condition: The base contact force was generated by air pressure. 2) P-P (Pneumatic Force + Friction Compensation by Pneumatic Force) Condition: The base contact force was generated by air pressure, and a controller was designed to compensate for deviations in the contact force caused by kinetic friction using pneumatic force. 3) P-E (Pneumatic Force + Friction Compensation by Electromagnetic Force) Condition (Hybrid Actuation): The base contact force was generated by air pressure, and a controller was designed to compensate for deviations in the contact force caused by kinetic friction using electromagnetic force. The root mean square errors in the P-E condition were found to be significantly smaller than those of the other two conditions.

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