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:

Y. Shirato, H. Mochiyama, H. Kobayashi, J. Tatsuno, and H. 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:

References

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

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

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