Little friction structure for macro-micro bilateral control system

In this paper, structure of master system and slave system for macro-micro bilateral system are proposed. In the macro-micro bilateral control system, disturbance force added to slave system is scaled. It is ideal that only environment reaction force of slave system is scaled. However, the disturbance force of slave system contains not only environment force but force of gravity and friction. Therefore, the gravity and friction are also scaled in the macro-micro bilateral control system. In this paper, linear motors are used to proposed master and slave system. Effect of gravity is very little in the linear motor, it can be neglected. Effect of friction can not be neglected, especially in the case of large scaling rate. Therefore, the friction of the proposed systems are rid by air flow. The proposed systems are given air flow under the linear motor and rid the friction. The availability of proposed method is confirmed by experiment.