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JRM Vol.23 No.3 pp. 393-399
doi: 10.20965/jrm.2011.p0393
(2011)

Paper:

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

Yuki Shirato*1, Hiromi Mochiyama*1, Hisato Kobayashi*2,
Junya Tatsuno*3, and Hiroyuki Kawai*4

*1Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

*2Faculty of Engineering and Design, Hosei University, 2-17-1 Fujimi, Chiyoda-ku, Tokyo 102-8160, Japan

*3Department of Mechanical Engineering, Kinki University, 1 Takeya-Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan

*4Department of Robotics, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Ishikawa 921-8501, Japan

Received:
September 27, 2010
Accepted:
April 13, 2011
Published:
June 20, 2011
Keywords:
micromanipulation, micromanipulator, master-slave system
Abstract

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.

Cite this article as:
Yuki Shirato, Hiromi Mochiyama, Hisato Kobayashi,
Junya Tatsuno, and Hiroyuki Kawai, “PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation,” J. Robot. Mechatron., Vol.23, No.3, pp. 393-399, 2011.
Data files:
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