| 摘要 |
PURPOSE:To make control of positioning and rigidity of a driven load system driven by an actuator possible by applying bias pressure on each elastic tubular structure of an actuator having a plurality of elastic tubular structures. CONSTITUTION:A movable body 5 is operated by two elastic tubular structures 2A, 2B. Control valves 8A, 8B for making working fluid operate, are mounted on these structures. An operating angle setting means 11 is also mounted. The control valves 8A, 8B are differentially controlled by signals of this means 11 and 2A, 2B are made to expand and contract differentially. The movable body 5 is subsequently operated by the expansion and contraction. Also, a rigidity setting means 16 is provided to control the control valves 8A, 8B to give bias pressure to both structures 2A, 2B. |
