PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation

被引：0

作者：

Shirato, Yuki ^{[1
]}

Mochiyama, Hiromi ^{[1
]}

Kobayashi, Hisato ^{[2
]}

Tatsuno, Junya ^{[3
]}

Kawai, Hiroyuki ^{[4
]}

机构：

[1] Univ Tsukuba, Dept Intelligent Interact Technol, 1-1-1 Tennodai, Tsukuba, Ibaraki 3058573, Japan

[2] Hosei Univ, Fac Engn & Design, Chiyoda Ku, Tokyo 1028160, Japan

[3] Kinki Univ, Dept Mech Engn, Higashihiroshima, Hiroshima 7392116, Japan

[4] Kanazawa Inst Technol, Dept Robot, Nonoichi, Ishikawa 9218501, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2011年 / 23卷 / 03期

关键词：

micromanipulation; micromanipulator; master-slave system;

D O I：

10.20965/jrm.2011.p0393

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The master-slave suction/exhalation we proposed for micromanipulation enables remote operation between a master and slave. Specifically, solenoid valves connected to pressure sources controlled by Pulse Width Modulation (PWM) generate suction or exhalation at the end of a straw based on an air flow generated by an operator. Our exploration of its basic performance, i.e., force generation capability and response, demonstrates its micromanipulation potential.

引用

页码：393 / 399

页数：7

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