Development of a pneumatic master–slave system comprising entirely mechanical components
In recent years, master–slave systems with pneumatic actuators, which are necessary to realize a safe and secure society, have attracted increasing attention and are currently being used in the medical and welfare fields. In addition, they are used in disaster-recovery support through application to...
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2020-05-01
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| Series: | Mechanical Engineering Journal |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/mej/7/3/7_19-00430/_pdf/-char/en |
| _version_ | 1819195396931452928 |
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| author | Hajime MORIGUCHI Osamu ICHIKAWA Yasutaka TAGAWA |
| author_facet | Hajime MORIGUCHI Osamu ICHIKAWA Yasutaka TAGAWA |
| author_sort | Hajime MORIGUCHI |
| collection | DOAJ |
| description | In recent years, master–slave systems with pneumatic actuators, which are necessary to realize a safe and secure society, have attracted increasing attention and are currently being used in the medical and welfare fields. In addition, they are used in disaster-recovery support through application to remote-controlled robots. The master–slave system proposed in this study aims at improving safety and reliability by controlling a pneumatic actuator with mechanical feedback. A characteristic analysis is essential to improve the performance and expand the possibilities for incorporation into practical systems. The purpose of this study is to clarify the performance of a master–slave system comprising only mechanical components and consider possible applications. We have developed a pneumatic master–slave system that uses a one-axis stage and a precision pressure regulator as the master and a pneumatic positioning device as the slave and performed characteristic confirmation experiments. First, we modeled the pneumatic positioning device and compared it with the actual step response. Next, we made a prototype of the master–slave system and conducted characteristic confirmation experiments such as step response and response to repeated inputs. Our experimental results suggest that this system is suitable for applications that require relatively low speeds and positioning accuracies of several millimeters, such as nursing-care assisting systems, transportation-support systems at production sites, and robots with expanded human abilities. |
| first_indexed | 2024-12-23T02:12:06Z |
| format | Article |
| id | doaj.art-bf51087c07914c409f171a646dc6b9d0 |
| institution | Directory Open Access Journal |
| issn | 2187-9745 |
| language | English |
| last_indexed | 2024-12-23T02:12:06Z |
| publishDate | 2020-05-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Mechanical Engineering Journal |
| spelling | doaj.art-bf51087c07914c409f171a646dc6b9d02022-12-21T18:03:46ZengThe Japan Society of Mechanical EngineersMechanical Engineering Journal2187-97452020-05-017319-0043019-0043010.1299/mej.19-00430mejDevelopment of a pneumatic master–slave system comprising entirely mechanical componentsHajime MORIGUCHI0Osamu ICHIKAWA1Yasutaka TAGAWA2Polytechnic UniversityPolytechnic UniversityDepartment of Mechanical Systems Engineering, Tokyo University of Agriculture and TechnologyIn recent years, master–slave systems with pneumatic actuators, which are necessary to realize a safe and secure society, have attracted increasing attention and are currently being used in the medical and welfare fields. In addition, they are used in disaster-recovery support through application to remote-controlled robots. The master–slave system proposed in this study aims at improving safety and reliability by controlling a pneumatic actuator with mechanical feedback. A characteristic analysis is essential to improve the performance and expand the possibilities for incorporation into practical systems. The purpose of this study is to clarify the performance of a master–slave system comprising only mechanical components and consider possible applications. We have developed a pneumatic master–slave system that uses a one-axis stage and a precision pressure regulator as the master and a pneumatic positioning device as the slave and performed characteristic confirmation experiments. First, we modeled the pneumatic positioning device and compared it with the actual step response. Next, we made a prototype of the master–slave system and conducted characteristic confirmation experiments such as step response and response to repeated inputs. Our experimental results suggest that this system is suitable for applications that require relatively low speeds and positioning accuracies of several millimeters, such as nursing-care assisting systems, transportation-support systems at production sites, and robots with expanded human abilities.https://www.jstage.jst.go.jp/article/mej/7/3/7_19-00430/_pdf/-char/enpneumatic master–slave systemmechanical feedbackpneumatic positioning devicemodelingpositioning accuracyremote control |
| spellingShingle | Hajime MORIGUCHI Osamu ICHIKAWA Yasutaka TAGAWA Development of a pneumatic master–slave system comprising entirely mechanical components Mechanical Engineering Journal pneumatic master–slave system mechanical feedback pneumatic positioning device modeling positioning accuracy remote control |
| title | Development of a pneumatic master–slave system comprising entirely mechanical components |
| title_full | Development of a pneumatic master–slave system comprising entirely mechanical components |
| title_fullStr | Development of a pneumatic master–slave system comprising entirely mechanical components |
| title_full_unstemmed | Development of a pneumatic master–slave system comprising entirely mechanical components |
| title_short | Development of a pneumatic master–slave system comprising entirely mechanical components |
| title_sort | development of a pneumatic master slave system comprising entirely mechanical components |
| topic | pneumatic master–slave system mechanical feedback pneumatic positioning device modeling positioning accuracy remote control |
| url | https://www.jstage.jst.go.jp/article/mej/7/3/7_19-00430/_pdf/-char/en |
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