A force-controlled pneumatic actuator

Ben-Dov, D.; Salcudean, Septimiu E.

doi:10.1109/70.478438

Cited by 94 publications

(35 citation statements)

References 4 publications

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“…The indirect method uses pressure measurements in the two chambers of the cylinder for force estimation [5,6]. Two solid-state sensors are placed in each chamber of the pneumatic cylinder.…”

Section: Introductionmentioning

confidence: 99%

A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

Krause

Bhounsule

2018

Actuators

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Although 3D printing has the potential to provide greater customization and to reduce the costs of creating actuators for industrial applications, the 3D printing of actuators is still a relatively new concept. We have developed a pneumatic actuator with 3D-printed parts and placed sensors for position and force control. So far, 3D printing has been used to create pneumatic actuators of the bellows type, thus having a limited travel distance, utilizing low pressures for actuation and being capable of only limited force production and response rates. In contrast, our actuator is linear with a large travel distance and operating at a relatively higher pressure, thus providing great forces and response rates, and this the main novelty of the work. We demonstrate solutions to key challenges that arise during the design and fabrication of 3D-printed linear actuators. These include: (1) the strategic use of metallic parts in high stress areas (i.e., the piston rod); (2) post-processing of the inner surface of the cylinder for smooth finish; (3) piston head design and seal placement for strong and leak-proof action; and (4) sensor choice and placement for position and force control. A permanent magnet placed in the piston head is detected using Hall effect sensors placed along the length of the cylinder to measure the position, and pressure sensors placed at the supply ports were used for force measurement. We demonstrate the actuator performing position, force and impedance control. Our work has the potential to open new avenues for creating less expensive, customizable and capable actuators for industrial and other applications.

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Section: Introductionmentioning

confidence: 99%

A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

Krause

Bhounsule

2018

Actuators

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“…Arun and Radke [4] reduced the order of sliding mode position controller by using two-way on/off solenoid valve. Ben-Dov and Salcudean [5] developed a force-controlled pneumatic actuator included the dynamics model and compressible air flow characteristics of the valve design. Al-Ibrahim and Otis [6] recommended the experiment method for charging and discharging processes of air inside an actuating cylinder.…”

Section: Introductionmentioning

confidence: 99%

A Study on Modeling of Pneumatic System for an IDC Device

Nguyen¹,

Le²,

Jeong³

et al. 2015

Journal of Drive and Control

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An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.

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“…The air in the cylinder chamber A is directly discharged to the atmosphere, so we consider the control volume V b , with densityρ b , mass m b , pressure P b , and temperature T b , the dynamic of the pressure P b can be written as (1), (10 …”

Section: Model Of the Cylinder Chambers For The Conventional Methodsmentioning

confidence: 99%

“…Ben-Dov and Salcudean (1) developed a linear force controller to modulate force by voice-coil flapper valves and low-friction cylinders. Shih and Hwang (2) developed modified differential pulse width modulation (PWM) method to eliminate the dead zone and to improve the nonlinear characteristics between the pressure differences of the cylinder.…”

Section: Introductionmentioning

confidence: 99%

A Study of the Pneumatic Counterweight of Machine Tools Conventional and Active Pressure Control Method

Tsai

Shih

2006

JSME Int. J., Ser. C

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The pneumatic counterweight method is a suitable counterweight method used for machine tool owing to its high speed and force capacity, combined with low price and clean operation. However, the preset pressure cannot be hold at higher traveling rate if the conventional pneumatic counterweight is applied. In this study, rather than using the conventional pressure compensation method, the active pressure control method was designed as an alternative to the pneumatic counterweight driven by a linear motor. The fuzzy sliding mode controller was designed and implemented for regulating the pressure using the servo valve. The experimental results demonstrate that the variation of the pressure in the pneumatic cylinder can be hold within the range ±15 kPa by using active pressure control method.

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A force-controlled pneumatic actuator

Cited by 94 publications

References 4 publications

A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

A Study on Modeling of Pneumatic System for an IDC Device

A Study of the Pneumatic Counterweight of Machine Tools Conventional and Active Pressure Control Method

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