TY - GEN
T1 - A new control method utilizing multiplex air vibration for multi-DOF pneumatic mechatronics systems
AU - Nishioka, Y.
AU - Suzumori, K.
AU - Kanda, T.
AU - Wakimoto, S.
PY - 2010
Y1 - 2010
N2 - Pneumatic actuators have several advantages such as light weight, safety, low cost and high compliance. They have been used in many areas such as industrial robots, rehabilitation tools, haptic devices, and medical/welfare robots. Pneumatic actuators are generally used in multi-DOF pneumatic system and have complicated systems that include a compressor, air tubes, and pneumatic valves with electrical wires. This research proposes a new control method for a multiplex pneumatic transmission constructed with special resonant valves and driven independently with air vibration in air supply tube without electrical wires. The control method simplifies the driving system and is effective for pneumatic systems having many degrees of freedom. In this paper, the development of a prototype model of the resonant valve is described. In addition, two control methods, which are a superimposing method and a time-sharing method for multi-valve control, are proposed and evaluated. Independent control of four pneumatic cylinders is realized.
AB - Pneumatic actuators have several advantages such as light weight, safety, low cost and high compliance. They have been used in many areas such as industrial robots, rehabilitation tools, haptic devices, and medical/welfare robots. Pneumatic actuators are generally used in multi-DOF pneumatic system and have complicated systems that include a compressor, air tubes, and pneumatic valves with electrical wires. This research proposes a new control method for a multiplex pneumatic transmission constructed with special resonant valves and driven independently with air vibration in air supply tube without electrical wires. The control method simplifies the driving system and is effective for pneumatic systems having many degrees of freedom. In this paper, the development of a prototype model of the resonant valve is described. In addition, two control methods, which are a superimposing method and a time-sharing method for multi-valve control, are proposed and evaluated. Independent control of four pneumatic cylinders is realized.
UR - https://www.scopus.com/pages/publications/78651520191
UR - https://www.scopus.com/pages/publications/78651520191#tab=citedBy
U2 - 10.1109/IROS.2010.5650578
DO - 10.1109/IROS.2010.5650578
M3 - Conference contribution
AN - SCOPUS:78651520191
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3037
EP - 3042
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -