Title:
ACTUATOR GRIPPING FORCE ESTIMATION DEVICE AND ACTUATOR GRIPPING FORCE ESTIMATION METHOD
Document Type and Number:
WIPO Patent Application WO/2024/048300
Kind Code:
A1
Abstract:
Provided is an actuator gripping force estimation method for estimating, as a gripping force, the force of a hydraulic actuator acting in a direction orthogonal to the tube axis thereof when the tube axis is not curved due to curvature. The hydraulic actuator comprises a main body portion with a tubular shape, one side of the tube periphery of which is shortened in the tube axis direction and curved due to an increase in internal pressure in the tube, the tube-axis base-end side of the hydraulic actuator is fixed to a substrate, and the tip end of the hydraulic actuator moves relative to the substrate. If L is the length from one end to the other end portion of the side surface that is most contracted of the main body portion, P is the inner pressure in the tube, F is the gripping force, ω1, ω2 are parameters set on the basis of basic properties of the hydraulic actuator, and Lmin is a constant based on geometric properties of the hydraulic actuator, the gripping force is estimated using the equation F = ω1P(L - Lmin + ω2.
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Inventors:
OONO SHINGO (JP)
MIYAZAKI TETSURO (JP)
KAWASHIMA KENJI (JP)
KUTSUNA KAITO (JP)
MIYAZAKI TETSURO (JP)
KAWASHIMA KENJI (JP)
KUTSUNA KAITO (JP)
Application Number:
PCT/JP2023/029707
Publication Date:
March 07, 2024
Filing Date:
August 17, 2023
Export Citation:
Assignee:
BRIDGESTONE CORP (JP)
UNIV TOKYO (JP)
UNIV TOKYO (JP)
International Classes:
F15B15/10
Domestic Patent References:
| WO2001072479A1 | 2001-10-04 |
Foreign References:
| JP2021088999A | 2021-06-10 |
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
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