International journal of

ADVANCED AND APPLIED SCIENCES

EISSN: 2313-3724, Print ISSN:2313-626X

Frequency: 12
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 Volume 4, Issue 12 (December 2017, Part 2), Pages: 151-157

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 Original Research Paper

 Title: Control and analysis of simple-structured robot arm using flexible pneumatic cylinders

 Author(s): Mohd Aliff 1, *, Shujiro Dohta 2, Tetsuya Akagi 2

 Affiliation(s):

 1Instrumentation and Control Engineering, Malaysian Institute of Industrial Technology, Universiti Kuala Lumpur, Persiaran Sinaran Ilmu, 81750 Bandar Seri Alam, Johor Bahru, Johor, Malaysia
 2Department of Intelligent Mechanical Engineering, Okayama University of Science, Okayama, Japan

 https://doi.org/10.21833/ijaas.2017.012.026

 Full Text - PDF          XML

 Abstract:

The flexible pneumatic cylinder is a novel pneumatic actuator that can work even if the cylinder bends. The purpose of this study is to develop a simple-structured rehabilitation device using the flexible pneumatic cylinder. In this paper, the control and analysis of robot arm for the human wrist rehabilitation by using flexible pneumatic cylinder is introduced. The system consists of a slave arm, a master arm, a high-speed microcomputer, compact and inexpensive quasi-servo valves, a potentiometer and accelerometers to give the references for the attitude control. The control performances of the device were also investigated. Then, it is needed to improve the control performance of the devices. Therefore, the analytical model of the flexible pneumatic cylinder and the quasi servo valve with the embedded controller was proposed and tested for estimating the performance theoretically. The comparison between the theoretical and experimental results was also executed to confirm the validity of the proposed model. 

 © 2017 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

 Keywords: Pneumatic robot arm, Flexible pneumatic cylinder, Master-slave control, PWM control valve

 Article History: Received 20 December 2016, Received in revised form 20 September 2017, Accepted 15 October 2017

 Digital Object Identifier: 

 https://doi.org/10.21833/ijaas.2017.012.026

 Citation:

 Aliff M, Dohta S, and Akagi T (2017). Control and analysis of simple-structured robot arm using flexible pneumatic cylinders. International Journal of Advanced and Applied Sciences, 4(12): 151-157

 Permanent Link:

 http://www.science-gate.com/IJAAS/V4I12(2)/Aliff.html

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