초록 ▼

A controllable pneumatic apparatus including a pneumatic actuator coupled with a linear-acting brake including a field responsive medium. The pneumatic actuator has a housing with a gas cavity, a first piston slidably disposed in the gas cavity subdividing the gas cavity into first and second gas ch

A controllable pneumatic apparatus including a pneumatic actuator coupled with a linear-acting brake including a field responsive medium. The pneumatic actuator has a housing with a gas cavity, a first piston slidably disposed in the gas cavity subdividing the gas cavity into first and second gas chambers, and an output member coupled to the first piston. The linear-acting controllable brake includes a medium containing cavity subdivided into a first and second chambers, and a second piston rigidly interconnected with, and longitudinally aligned with, the first piston. A passageway interconnects the first and the second chambers and a field responsive medium (e.g., a magnetic fluid) is contained in the passageway. A field generator produces a field to change a rheology of the medium and cause a braking force to be applied to the output member to control motion thereof. A preferable control method implements motion control based upon the kinetic energy and the braking force in the system.

대표청구항 ▼

[ What is claimed is:] [1.]1. A motion control apparatus, comprising:(a) a pneumatically controlled actuator including a housing with a gas cavity formed therein, a first piston slidably disposed in the gas cavity, the first piston subdividing the gas cavity into first and a second gas-chambers, and

[ What is claimed is:] [1.]1. A motion control apparatus, comprising:(a) a pneumatically controlled actuator including a housing with a gas cavity formed therein, a first piston slidably disposed in the gas cavity, the first piston subdividing the gas cavity into first and a second gas-chambers, and an output member coupled to the first piston, the output member being movable in response to movement of the first piston, the first piston being moveable along an axial axis of the housing as a result of a differential pressure between the first and second chambers; and(b) a controllable brake for controlling the motion of the output member, the brake being coupled to the pneumatically controlled actuator, the brake including a medium containing cavity subdivided into a first and second chambers, a second piston rigidly interconnected with, and longitudinally aligned with, the first piston and moveable in the medium containing cavity along said axial axis, a passageway interconnecting the first and the second chambers, a field responsive medium contained in the chambers and passageway, a field generator for producing a field to change the rheology of the field responsive medium in the passageway upon exposure to the field causing a braking force to be applied to the output member to control motion thereof.