Development of Articulated Manipulators with Pneumatic Cylinders

Yukio Kawakami; Kazuhisa Ito; Masashi Ogawa; Akiyoshi Horikawa; Koji Shioda; Kiono Nagai

doi:10.20965/ijat.2011.p0478

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IJAT Vol.5 No.4 pp. 478-484

doi: 10.20965/ijat.2011.p0478

(2011)

Paper:

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Development of Articulated Manipulators with Pneumatic Cylinders

Yukio Kawakami^, Kazuhisa Ito^, Masashi Ogawa^,
Akiyoshi Horikawa^, Koji Shioda^, and Kiono Nagai^

^*Department of Machinery and Control Systems, College of Systems Engineering and Science, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama-city, Saitama 337-8570, Japan

^**Development Department, Development Division, KOGANEI Corporation, 3-11-28 Midori-cho, Koganei-shi, Tokyo 184-8533, Japan

Received:

January 26, 2011

Accepted:

April 6, 2011

Published:

July 5, 2011

Keywords:

articulated manipulator, pneumatic cylinder, flexibility direct drive joint, pressure control

Abstract

We have developed new articulated manipulators with compact pneumatic cylinders and with the high levels of structural flexibilities and safety as a result of adoption of new ideas in the structure. In developing the new articulated manipulators, we have first defined the design concepts and then described the overview of the manipulators which we have actually designed and manufactured. We have carried out experiments with the manufactured articulated manipulators for their positional controllability and stiffness characteristics, the results of which are also reported in this paper. Furthermore, this paper refers to possible applications of the developed new articulated manipulators.

Cite this article as:

Yukio Kawakami, Kazuhisa Ito, Masashi Ogawa,
Akiyoshi Horikawa, Koji Shioda, and Kiono Nagai, “Development of Articulated Manipulators with Pneumatic Cylinders,” Int. J. Automation Technol., Vol.5, No.4, pp. 478-484, 2011.

Data files:

References

[1] Z. Sun, G. Bao, X. Li, and J. Lu, “Angle Measurement and Calibration of Force Feedback Dataglove,” Proc. on the 7th JFPS Int. Symposium on Fluid Power, Vol.2, pp. 483-488, 2008.
[2] D. Sasaki, T. Noritsugu, and M. Takaiwa, “Wearable Master-Slave Training Device for Lower Limb Constructed with Pneumatic Rubber Artificial Muscles,” Proc. on the 7th JFPS Int. Symposium on Fluid Power, Vol.2, pp. 493-498, 2008.
[3] L. Hao, F. Wei, Y. Lin, P. Guang-zheng, and W. Tao, “Study on a New Dexterous Hand Actuated by Pneumatic Muscle Actuators,” Proc. on the 7th JFPS Int. Symposium on Fluid Power, Vol.2, pp. 521-526, 2008.
[4] H. Higo, K. Tanaka, M. Fuchiwaki, Y. Sakurai, and T. Nakada, “A New-Link Manipulating System Using Servomotors and Pneumatic Cylinders,” Proc. on Spring Conf. of Japan Fluid Power System Society 2010, pp. 91-93, 2010.

[1] [1] Z. Sun, G. Bao, X. Li, and J. Lu, “Angle Measurement and Calibration of Force Feedback Dataglove,” Proc. on the 7th JFPS Int. Symposium on Fluid Power, Vol.2, pp. 483-488, 2008.

[2] [2] D. Sasaki, T. Noritsugu, and M. Takaiwa, “Wearable Master-Slave Training Device for Lower Limb Constructed with Pneumatic Rubber Artificial Muscles,” Proc. on the 7th JFPS Int. Symposium on Fluid Power, Vol.2, pp. 493-498, 2008.

[3] [3] L. Hao, F. Wei, Y. Lin, P. Guang-zheng, and W. Tao, “Study on a New Dexterous Hand Actuated by Pneumatic Muscle Actuators,” Proc. on the 7th JFPS Int. Symposium on Fluid Power, Vol.2, pp. 521-526, 2008.

[4] [4] H. Higo, K. Tanaka, M. Fuchiwaki, Y. Sakurai, and T. Nakada, “A New-Link Manipulating System Using Servomotors and Pneumatic Cylinders,” Proc. on Spring Conf. of Japan Fluid Power System Society 2010, pp. 91-93, 2010.

Development of Articulated Manipulators with Pneumatic Cylinders

Yukio Kawakami*, Kazuhisa Ito*, Masashi Ogawa**, Akiyoshi Horikawa**, Koji Shioda**, and Kiono Nagai**

Yukio Kawakami^, Kazuhisa Ito^, Masashi Ogawa^,
Akiyoshi Horikawa^, Koji Shioda^, and Kiono Nagai^