Development of synchronized control system through a pneumatic parallel mechanism and its 3D CG model

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• 作者：Yoshito Tanaka ; So-Nam Yun ; Yutaka Tanaka
• 关键词：Force control ; Parallel mechanism ; Pneumatic control ; PWM ; 3D CG ; OpenGL ; Synchronization
• 刊名：Journal of Mechanical Science and Technology
• 出版年：2016
• 出版时间：January 2016
• 年：2016
• 卷：30
• 期：1
• 页码：397-403
• 全文大小：5,719 KB
• 参考文献：[1]http://www.nedo.go.jp/content/100089429.pdf.
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• 作者单位：Yoshito Tanaka (1)
  So-Nam Yun (1) (2)
  Yutaka Tanaka (3)
  
  1. Department of Extreme Energy Systems, Korea Institute of Machinery and Materials, Daejeon, 305-343, Korea
  2. Plant System and Machinery, Korea University of Science and Technology, Korea, Korea
  3. Faculty of Engineering and Design, Hosei University, 2-17-1 Fujimi, Chiyodaku, Tokyo, 102-8160, Japan
  
• 刊物类别：Engineering
• 刊物主题：Mechanical Engineering
  Structural Mechanics
  Control Engineering
  Industrial and Production Engineering
  
• 出版者：The Korean Society of Mechanical Engineers
• ISSN：1976-3824

文摘

This study developed a rehabilitation system that can improve the patient care services provided by physical therapists. Wristparalyzed patients were given arbitrary force through a six-Degree of freedom (6DoF) parallel mechanism composed of six pneumatic cylinders, and recovery training was performed. Each pneumatic cylinder was used to apply force control using a pulse width modulation control, and the force of the 6DoF direction was directed to the wrist of the patient. The thrust force of each cylinder and the force of the 6DoF direction of the parallel mechanism were analyzed. The analysis results conformed well to the experimental results. The developed rehabilitation system was designed to help a physical therapist remotely treat multiple patients at the same time. To monitor the operation of the parallel mechanism of each patient’s side, a 3D computer graphic model was created through OpenGL. The movement of this model was investigated to further examine the movement of the 6DoF direction of the parallel mechanism. Results confirmed that both movements can be controlled synchronously.