Optimal control scheme for pneumatic soft actuator under comparison of proportional and PWM-solenoid valves

Huang, Haiming; Lin, Junhao; Wu, Linyuan; Fang, Bin; Sun, Fuchun

doi:10.1007/s11107-018-0815-3

Cited by 21 publications

(5 citation statements)

References 27 publications

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“…However, the stiffness modulated by changing air pressure is small, so the output force exerted by the grippers on objects is small. The operation is easy to fail due to its less stiffness when the gripper grabbs heavy objects or encounters large resistances [10][11][12]. Another way to change the stiffness of a robot is to apply variable-stiffness mechanisms.…”

Section: •2•mentioning

confidence: 99%

Research on Variable-Stiffness Mechanisms of Robot Wrists for Compliant Assembling-Clamping

Xing

Zhang

et al. 2021

Preprint

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The stiffness requirements of robot wrists vary with processes during automatic assembling-clamping of robots. The precision of robots moving workpieces to operating positions in the process of rigid localization is achieved if robot wrists equip with a large stiffness. The pose errors of workpieces in the process of compliant assembling-clamping can easily be compensated if robot wrists with a low stiffness is utilized. The present compliant wrist can not meet the stiffness requirements of different processes. A robot wrist with a large stiffness variation is proposed and its mechanisms of rigid localization and compliant assembling-clamping are studied. The pose models of wrists caused by deformations are established. The influences of wrist stiffness on the deformation of itself are researched. The mechanism of modulating wrist stiffness during compliant assembling-clamping is revealed. A structure of 3-DOF (degrees of freedom) robot wrist with a stiffness variation is proposed. The wrist stiffness is changed by modulating the pretension. The influences of pretensions and geometrical parameters on the variable-stiffness characteristics and the stiffness distribution of a wrist are researched. Finally, the experiments are carried out to verify the feasibility of the wrists finishing assembling-clamping operations by modulating the stiffness.

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Section: •2•mentioning

confidence: 99%

Research on Variable-Stiffness Mechanisms of Robot Wrists for Compliant Assembling-Clamping

Xing

Zhang

et al. 2021

Preprint

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“…It is evident that much as nonlinearity of robot dynamics increases, so does the complexity of controlling the soft robot [15]. Owing to this constraint, a majority of control strategies for soft robots adopt open-loop control laws (see, e.g., [16]).…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Fault-Tolerant Reconfiguration Strategies for PneumaticallyActuated Soft Snake Robot: Enabling Robust Locomotion in the Presence of Air Leakage

Bhandari

Yang

Pathak

2023

Preprint

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Recently, the study of soft robots has become quite popular for their flexibility, safer interaction with humans, and low-cost adaptability to complex and uncertain environments. This paper presents a bond graph model of a pneumatically actuated soft snake robot and novel reconfiguration strategies for the soft snake robot to accommodate the faults caused by air leakage. With the proposed recon-figuration strategies, the soft snake robot can have robust locomotion along the desired trajectory even if an air leakage fault occurs during the locomotion. An efficient procedure of fault detection and isolation is also incorporated into the bond graph model of the robot. We conduct in-depth numerical experiments to validate the proposed robot model’s performance and reconfiguration strategies. Experimental results demonstrate that the soft snake robot, aided with reconfig-uration strategies, achieves straight-line locomotion with the lateral undulation gait despite air leakage faults.

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“…They have gained popularity as a fiber-reinforced soft bending actuator (FRSBA) (Deimel and Brock, 2013), but the use of viscoelastic material makes soft robots a highly non-linear system. The non-linearity of the dynamics of the soft robots increases the complexity of control (Boyraz et al, 2018), due to which most control strategies are open-loop in the case of soft robots (Huang et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

Bhandari¹,

Pathak²,

Yang³

2022

Preprint

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This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of the derived dynamic model, we conduct numerical simulations using 20-sim® software. Experimental results demonstrate that the soft actuator achieves bi-directional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion.

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Optimal control scheme for pneumatic soft actuator under comparison of proportional and PWM-solenoid valves

Cited by 21 publications

References 27 publications

Research on Variable-Stiffness Mechanisms of Robot Wrists for Compliant Assembling-Clamping

Research on Variable-Stiffness Mechanisms of Robot Wrists for Compliant Assembling-Clamping

Dynamic Modeling and Fault-Tolerant Reconfiguration Strategies for PneumaticallyActuated Soft Snake Robot: Enabling Robust Locomotion in the Presence of Air Leakage

Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

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