機械式フィードバックによるマスタースレーブロボットの特性評価

抄録

Pneumatic control technology is widely used in industry. Electronic control is generally used as a method to control pneumatic equipment, but it cannot be used in explosive atmospheres or high radiation environments. The master-slave robot used in this study transfers the position command from the master robot using the air pressure signal, and mechanically feedback controls the position of the slave cylinder according to the signal. Since control is performed without using electronic control, we can use it even in extreme environments or when electric power is lost. On the other hand, its characteristics may change depending on the structure and operating conditions. In this study, we examined the configuration of the master robot for generating the signal air pressure. We proposed a method of decompressing compressed air and a method of compressing by external force as a method of generating signal air pressure and evaluated its characteristics. As a result, we found that a master using a cylinder has less delay and better frequency response.