| 摘要 |
<p>PURPOSE:To prevent any trouble of straight-operating actuators which are made of artificial rubber muscle by disposing pre-pressure control means which gradually increase or decrease pressure applied to the actuators, between each of the actuators and a pressure source. CONSTITUTION:Pre-pressure control valves 19 and 20 which are controlled by a controller 23 to increase or decrease pressure gradually are disposed between a pressure source 17 and each of a pair of the straight-operating actuators 1 and 2 made of artificial rubber muscle. By use of such constitution, pre- pressure can be changed gradually when it is desired to be applied or removed so that a wire 5 bound to the actuators 1 and 2 is prevented from running off a pulley 4 and a load 40 is also prevented from moving quickly.</p> |
