POSITIONING FLUID-PRESSURE ACTUATOR Russian patent published in 1997 - IPC

FIELD: robotics. SUBSTANCE: positioning fluid-pressure actuator has air and hydraulic cylinders the rods of which are rigidly interconnected. The spaces of the hydraulic cylinder are interconnected through electrically controlled throttle which includes electromagnet windings mounted inside the housing as well as a control device connected with positioning pickups, pickups of the speed of rods, and windings of a throttle which is provided with two disks with eccentric openings mounted inside the housing for permitting end face contact and coincidence of the openings as well as ring permanent magnets rigidly connected with the disks and mounted for permitting interaction with the electromagnet windings. The control device is provided with an electromechanical phase shifter connected with its input. The positioning pickup can determine third and fourth derivatives of the generalized co-ordinate. The control system can supply a voltage to the throttle windings when the actuator accelerates or decelerates depending on the obtained magnitude of the third and fourth derivatives of the generalized co-ordinate. EFFECT: improved design. 2 cl, 3 dwg