Study of force-driven pneumatic joystick

In this study we develop a new type joystick with force (6DOF) Stewart platform type[1] of joystick using pneumatic actuated parallel link mechanism. The thrust force of the cylinder is controlled by the PWM of the solenoid valve that uses PIC. When the thrust force of the cylinder is controlled, the control characteristic of the cylinder is improved by the effect of the accumulator so that it might make amends for the influence on the compressibility of air exerted on the characteristic of the thrust force of the cylinder. It is confirmed that the thrust force of the cylinder can be applied to the pneumatic joystick, and the z-axial force control is possible in the experiment. © 2008 IEEE.