Design and Testing of a Servo Controller for Pneumatic Cylinders

Marchant, J.A.; Street, Mandie; Gurney, P; Benson, J. A.

doi:10.1243/pime_proc_1989_203_184_02

Cited by 14 publications

(3 citation statements)

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“…However, the requirement for the robot to be sensor-driven means that inaccuracies in the drive system can be tolerated. Control algorithms using state estimator feedback for sensor-driven applications have been developed and a steady-state position error of less than 0.5 mm has been achieved, 15 which meets the 2 to 3 mm requirement for a teatcup attachment robot.…”

Section: Actuator Controlmentioning

confidence: 89%

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Robotic milking: a review

Frost

1990

Robotica

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SUMMARYAttaching the milking machine to the cow is the last remaining major repetitive task that the worker in a modern milking parlour has to perform. Several groups of research workers are developing robotic systems for this purpose. The task for the robot of locating the cow's teats and attaching the machine is complicated by morphological differences between cows and the need to allow the cow freedom to move during the operation. This paper reviews the progress that has been made.

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Section: Actuator Controlmentioning

confidence: 89%

“…Electrical, 10 pneumatic, 15 and hydraulic 16 power supplies have been proposed for milking robots. The factors to be considered when making a choice between these include the power requirement and the need for actuator control.…”

Section: Robot Power Supplymentioning

confidence: 99%

Robotic milking: a review

Frost

1990

Robotica

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“…No matter what type of a pneumatic actuator (symmetric or asymmetric) is used, the response of a pneumatic system is dominated by the variation of leakage and friction in the cylinder with the piston position, compressibility of air, and a time constant, which indicates how fast air fills the cylinder. [7][8][9][10] Glass cylinders with graphite pistons have been employed to develop an air bearing between the piston and the cylinder, and hence friction and air leakage can be reduced significantly. 1 In the literature, either state space models or linear transfer functions are used to mimic the behaviour of pneumatic systems about the mid-stroke operating point.…”

Section: Introductionmentioning

confidence: 99%

A mathematical model for a pneumatically actuated robotic fibre placement system

et al. 2002

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SummaryIn this paper, a lumped parameter model of a robotic fibre placement system consisting of a Motoman SK-120 robot, a force/torque sensor, a pneumatic actuator and a stiff workpiece holder is developed and experimentally verified for the purpose of predicting and characterising the dynamic behaviour of the fibre placement system. Special attention has been given to the dynamics of the actuator which is represented as a mass confined to move between two non-linear springs and dampers. The overall model containing manipulator, force sensor, pneumatic actuator and the workpiece holder dynamics is of the tenth order. Step response experiments were conducted to verify the model and to determine the approximate values of the parameters in the mathematical model. The results prove that the established model is accurate enough to explain the dynamic behaviour of the fibre placement system and it can be employed to quantify the influence of the dynamics of the pneumatic actuator on the constant force-based fibre placement. The well-known fact that the dynamics of the pneumatic actuator varies with the piston position has also been experimentally demonstrated.

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Flat-Plate and Evacuated Tube Collectors

Norton¹

2013

Lecture Notes in Energy

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The sun has got his hat on Hip hip hip hooray! The sun has got his hat on, and he's coming out to play Gay and Butler (1932) 5.1 Overview Solar-energy collectors are devices employed to gain useful heat energy from the incident solar radiation. They can be of the concentrating or the flat-plate type. A simple flat-plate solar energy collector consists basically of an absorbing surface which absorbs the insolation and transmit it in form of heat to a working fluid commonly air or water. A general steady-state analysis for flat-plate collectors is shown in Fig. 5.1.Instantaneous efficiencies are plotted against (T fii ÀT a )/I and the intercept and the slope determined (7.1.5). The long-term performance of many solar heating collectors can be characterized by a thus determined intercept and slope as shown by the illustrative examples for different collector types given in Fig. 5.2. These parameters are not constant but depend on temperature and wind speed. Heat removed is also a weak function of overall heat loss. To account for these effects non-linear equations have been developed and together with an angular dependent "incident angle modifier" are used in various versions as the basis for rating tests. These are shown in Fig. 5.3.The absorber material in a flat-plate collector, in addition to having a high absorbance of the incident radiation should also have a low emissivity, good thermal conductivity, and be stable thermally under temperatures encountered during operation and stagnation. It should also be durable, have low weight per unit area and, most importantly, be cheap. Black coated metal sheets (in air heater) and fins in water heaters are used frequently as absorbers due to their effectiveness, ease of use, availability and relatively low cost. Wisely or not, a multitude of

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Design and Testing of a Servo Controller for Pneumatic Cylinders

Cited by 14 publications

References 1 publication

Robotic milking: a review

Robotic milking: a review

A mathematical model for a pneumatically actuated robotic fibre placement system

Flat-Plate and Evacuated Tube Collectors

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