2015•The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)Open access
1P1-A10 Position control system using unconstrained vibrational pneumatic poppet valves for pneumatics manipulator
Suzuki HIGUCHI, Kazuhiro Kato, Shinichi Hirai
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Abstract
In recent years, pneumatics actuators were required for industrial robots. It is important to make small valves with using high pressure and high flow-rate for driving pneumatics actuator. We have developed the small valve for unconstrained vibrational pneumatic poppet valves, and to do experiments on the McKibben actuator, but the valve haven't experiment on robots yet. In this paper, the position control system using unconstrained vibrational pneumatic poppet valves for pneumatics manipulator. We need a pair of pneumatic valves to drive a single actuator. We thus challenge to apply simple ON/OFF control to the pair of valves. A position control system was proposed based on the ON/OFF control strategy. Experimental results showed that it is possible to control the link position with our proposed valve.
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