宇宙環境マニピュレータ用フレキシブル・ハイドロウリック・アクチュエータ(FHA)

In the space environment, due to recent active development, there are an increasing number of cases where it is necessary to move objects quickly with a large moment of inertia. Hence, it would be desirable to develop more powerful actuators. An actuator developed for hydraulic control in space is called a flexible hydraulic actuator (FHA). The actuator consists of a rubber core tube and string cords to cover it. The main feature of the FHA is no need for lubrication. The precise mathematical model in static and dynamic motion is derived and compared with experiments. The actuator with loads is investigated through experiments. It is also ascertained that the FHA responds quickly.