2905 Development of pneumatic servo cylinder realizing with large displacement

While pneumatic systems consisting of many actuators need downsizing and high function. Pneumatic actuators and systems are not advanced. Authors have developed a pneumatic cylinder on which a micro optical encoder was mounted. This pneumatic cylinder realized servo control of positioning and compliance control. The pneumatic cylinder was adapted haptic interface device. The haptic interface device is large system which was configured with 30 this cylinders. This research aims at further downsizing and realizing high function of the pneumatic cylinder. In this paper, developed new pneumatic cylinder on which an optical encoder and PSoC were mounted is described. This cylinder realized downsizing and large stroke with double rod acting mechanism.