Development of an Air Balancer Applying Passive    Dynamic Control

Yasuhiro Minamiyama; Yuki Gomi; Takanori Kiyota; Noboru Sugimoto

doi:10.20965/jrm.2013.p0718

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JRM Vol.25 No.4 pp. 718-725

doi: 10.20965/jrm.2013.p0718

(2013)

Paper:

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Development of an Air Balancer Applying Passive Dynamic Control

Yasuhiro Minamiyama^1, Yuki Gomi^2, Takanori Kiyota^3,
and Noboru Sugimoto^4

^*1Kurume National College of Technology, 1-1-1 Komorino, Kurume, Fukuoka 830-8555, Japan

^*2First Carbody System Engineering Department, AISIN SEIKI Co., Ltd., Japan

^*3The University of Kitakyushu, Japan

^*4Meiji University, Japan

Received:

February 4, 2013

Accepted:

April 20, 2013

Published:

August 20, 2013

Keywords:

inherently safe design, pneumatic systems, power assist, material handling

Abstract

Passive Dynamic Control (PDC) is a new type of mechanical system control method based on inherently safe design. It uses passive elements (braking effort) with variable characteristics positively. In this paper, PDC is applied to a material handling device, and a PDC air balancer is developed using a Magneto-Rheological (MR) brake and a torque sensor. Its control performance depends on the operation of the MR brake, not on the operation of air pressure. Compared with similar conventional devices, PDC air balancer is used with heavy objects for intuitive operation with lower highly-safe actuating force.

Cite this article as:

Y. Minamiyama, Y. Gomi, T. Kiyota, and N. Sugimoto, “Development of an Air Balancer Applying Passive Dynamic Control,” J. Robot. Mechatron., Vol.25 No.4, pp. 718-725, 2013.

Data files:

References

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[2] S. Lee and Y. Yamada, “Skill-Assist Safety and Intelligence Technology,” Int. J. of Automation Technology, Vol.3, No.6, pp. 643-652, 2009.
[3] H. Murayama, N. Takesue, K. Matsumoto, H. Konosu, and H. Fujimoto, “Development of a Car Window Installation Assist Robot,” J. of the Robotics Society of Japan, Vol.128, No.5, pp. 642-630, 2010.
[4] H. Kobayashi, T. Aida, and T. Hashimoto, “Muscle Suit Development and Factory Application,” Int. J. of Automation Technology, Vol.3, No.6, pp. 709-715, 2009.
[5] T. Miyoshi, A. Niinuma, K. Terashima, and Y. Miyashita, “Development of Industry Oriented Power-Assisted System and Comparison with Conventional Machine,” Int. J. of Automation Technology, Vol.3, No.6, pp. 692-699, 2009.
[6] T. Miyoshi, K. Suzuki, and K. Terashima, “Development of Five-Degree-of-Freedom Wire Suspension Power-Assisted System Using Linear Cylinders,” Proc. of the 2011 IEEE Int. Conf. on Robotics and Automation, pp. 342-348, 2011.
[7] Y. Minamiyama, T. Kiyota, T. Sasaki, and N. Sugimoto, “Passive Dynamic Control and Its Application to Balance Servo,” Proc. of the 44th IEEE Conf. on Decision and Control, and European Control Conf. (ECC’05), pp. 8325-8330, 2005.
[8] ISO12100, “Safety of machinery – Basic concepts, general principles for design.”
[9] Y. Minamiyama, T. Kiyota, and N. Sugimoto, “Inherently Safe Design of Home Elevator System by Passive Dynamic Control,” Proc. of 2007 ASME Int. Mechanical Engineering Congress and Exposition (ASME-IMECE 07), No.42534, 2007.
[10] Y. Minamiyama, T. Kiyota, T. Sasaki, and N. Sugimoto, “Application of Passive Dynamic Control to Pneumatic Cylinders,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation, pp. 4497-4502, 2007.
[11] Y. Minamiyama, T. Kiyota, and N. Sugimoto, “Enclosing Control Based on Brake Operation and Its Application to Pneumatic Systems,” Proc. of the 37th Annual Conf. of the IEEE Industrial Electronics Society (IECON2011), pp. 75-80, 2011.
[12] ISO10218, “Robots for industrial environments – Safety requirements,” 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Yamada, T. Morizono, Y. Umetani, and H. Konosu, “Warning: To Err Is Human – Working toward a Dependable Skill-Assist with a Method for Preventing Accidents Caused by Human Error –,” IEEE Robotics & Automation Magazine, Vol.11, No.2, pp. 34-45, 2004.

[2] [2] S. Lee and Y. Yamada, “Skill-Assist Safety and Intelligence Technology,” Int. J. of Automation Technology, Vol.3, No.6, pp. 643-652, 2009.

[3] [3] H. Murayama, N. Takesue, K. Matsumoto, H. Konosu, and H. Fujimoto, “Development of a Car Window Installation Assist Robot,” J. of the Robotics Society of Japan, Vol.128, No.5, pp. 642-630, 2010.

[4] [4] H. Kobayashi, T. Aida, and T. Hashimoto, “Muscle Suit Development and Factory Application,” Int. J. of Automation Technology, Vol.3, No.6, pp. 709-715, 2009.

[5] [5] T. Miyoshi, A. Niinuma, K. Terashima, and Y. Miyashita, “Development of Industry Oriented Power-Assisted System and Comparison with Conventional Machine,” Int. J. of Automation Technology, Vol.3, No.6, pp. 692-699, 2009.

[6] [6] T. Miyoshi, K. Suzuki, and K. Terashima, “Development of Five-Degree-of-Freedom Wire Suspension Power-Assisted System Using Linear Cylinders,” Proc. of the 2011 IEEE Int. Conf. on Robotics and Automation, pp. 342-348, 2011.

[7] [7] Y. Minamiyama, T. Kiyota, T. Sasaki, and N. Sugimoto, “Passive Dynamic Control and Its Application to Balance Servo,” Proc. of the 44th IEEE Conf. on Decision and Control, and European Control Conf. (ECC’05), pp. 8325-8330, 2005.

[8] [8] ISO12100, “Safety of machinery – Basic concepts, general principles for design.”

[9] [9] Y. Minamiyama, T. Kiyota, and N. Sugimoto, “Inherently Safe Design of Home Elevator System by Passive Dynamic Control,” Proc. of 2007 ASME Int. Mechanical Engineering Congress and Exposition (ASME-IMECE 07), No.42534, 2007.

[10] [10] Y. Minamiyama, T. Kiyota, T. Sasaki, and N. Sugimoto, “Application of Passive Dynamic Control to Pneumatic Cylinders,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation, pp. 4497-4502, 2007.

[11] [11] Y. Minamiyama, T. Kiyota, and N. Sugimoto, “Enclosing Control Based on Brake Operation and Its Application to Pneumatic Systems,” Proc. of the 37th Annual Conf. of the IEEE Industrial Electronics Society (IECON2011), pp. 75-80, 2011.

[12] [12] ISO10218, “Robots for industrial environments – Safety requirements,” 2006.

Development of an Air Balancer Applying Passive Dynamic Control

Yasuhiro Minamiyama*1, Yuki Gomi*2, Takanori Kiyota*3, and Noboru Sugimoto*4

Yasuhiro Minamiyama^1, Yuki Gomi^2, Takanori Kiyota^3,
and Noboru Sugimoto^4