Multiplex pneumatic control method for multi-drive system

Pneumatic actuators have several advantages such as light weight, safety, low cost and high compliance. However, many pneumatic actuators have complicated systems that include a compressor, air tubes, and pneumatic valves with electrical wires. This research proposes a new control method for a multiplex pneumatic transmission constructed with special resonant valves and air tubes with a control system driven by air vibration in air tubes without electrical wires. The control is simplified and effective for pneumatic systems having many degrees of freedom. In this paper, the development of a primitive model of the resonant valve and a prototype valve is described. In addition, two control methods, which are a superimposing method and a time-sharing method, are shown, and the independent driving of four actuators is realized by using one of the control methods with air tubes only.