| 摘要 |
A hydropneumatically controlled multiaxis manipulator of anthropomorphous type; the manipulator comprises a rotatable table provided with an articulated arm, wherein each rotational axis is connected to a hydropneumatic drive assembly comprising at least one active pneumatic actuator unit and a passive hydraulic actuator unit operatively connected one to the other, and wherein the passive hydraulic unit is connected to a closed circuit comprising flow-control valve means pneumatically actuated; a signal generator is related to the active pneumatic unit to supply correlated speed and position signals, which are feedback to a control system comprising a programmable process unit, and an electropneumatic control unit for the actuators comprising a set of solenoid valves which are selectively actuated by a programmed sequence of control signals emitted by the process unit, to selectively activate the actuators of the manipulator as a function of a programmed sequence of movements.
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