DEVELOPMENT OF A PNEUMATIC FORCE-DISPLAY (APPLICATION TO A MASTER-SLAVE SYSTEM)

Authors

  • Hironao Yamada Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
  • Shigeki Kudomi Gifu Prefectural Research Institute of Manufacturing Information Technology 4-179-1 Sue, Kakamigahara, Gifu 509-0108, Japan
  • Takayoshi Muto Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Keywords:

manipulator, pneumatic servo-system, master-slave system, force-display, bilateral control, remote control

Abstract

In this study we deal with a bilateral master-slave system composed of a pneumatic force-display as the master and a hydraulic servo system as the slave. In such systems the force-display must play two roles as master: first as a reference input device to the slave and second as a force-display device. The first purpose of this study is to develop a pneumatic force-display that consists of a pneumatic servo system. To achieve this, it is necessary to solve a problem called back-drivability, a characteristic of pneumatic servo systems. The second purpose is to investigate the compatibility of our thusly developed force-display with some representative methods of bilateral master-slave control systems in conven-tional use. In experiments to confirm such compatibility, the sensibility of load forces is estimated based on a master-slave system equipped with a spring to serve as a load. The experiments confirm that the developed force-display would be applicable to conventional methods of bilateral master-slave systems.

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Author Biographies

Hironao Yamada, Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Hironao Yamada (Born October 02, 1962) received the Doctor of Engineering degree from the Nagoya University Japan, in 1991. From 1991 to 1994, he worked in Nagoya University. From 1992 to 1993, he was a Visiting Research Fellow at the Aachen Institute of Technology, Germany. He is currently an Associate Profes-sor in the department of mechanical and systems engineering, Gifu University.

Shigeki Kudomi, Gifu Prefectural Research Institute of Manufacturing Information Technology 4-179-1 Sue, Kakamigahara, Gifu 509-0108, Japan

Shigeki Kudomi (Born January 09, 1970) received the Bache-lor of Engineering degree from Nagoya Institute of Technology in 1992 and the Doctor of Engineering degree from Gifu University in 2002. From1992 to 1995, heworked in Nippondenso Co. Ltd. He is currently a researcher in Gifu Prefectual Research Institute.

Takayoshi Muto, Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Takayoshi Muto (Born March 31, 1941) received the Doctor of Engineering degree from the Nagoya Univer-sity, in 1972. From 1963 to 1972, he worked in the department of mechanical engineering, Nagoya University. From 1981 to 1982, he was a Visiting Research Fellow at the Aachen Institute of Technology, Germany. He is currently a Professor in the department of mechanical and systems engineering, Gifu University.

References

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Published

2003-03-01

How to Cite

Yamada, H., Kudomi, S., & Muto, T. (2003). DEVELOPMENT OF A PNEUMATIC FORCE-DISPLAY (APPLICATION TO A MASTER-SLAVE SYSTEM). International Journal of Fluid Power, 4(1), 41–48. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/614

Issue

2003: Vol 04 Iss 1

Section

Original Article