A New Control Method Utilizing Multiplex Air Vibration for Multi-DOF Pneumatic Mechatronics Systems

摘要

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.