Design and Control of Pneumatic Systems for Soft Robotics: A Simulation Approach
Pressure control plays a major role in the overall performance of fluid-driven soft robots. Due to the increasing demand for higher speed actuation and precision, a need exists for a practical design methodology that converts actuator performance specifications to a set of minimum pneumatic specific...
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| Veröffentlicht in: | IEEE robotics and automation letters 2021-07, Vol.6 (3), p.5800-5807 |
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| creator | Xavier, Matheus S. Fleming, Andrew J. Yong, Yuen Kuan |
| description | Pressure control plays a major role in the overall performance of fluid-driven soft robots. Due to the increasing demand for higher speed actuation and precision, a need exists for a practical design methodology that converts actuator performance specifications to a set of minimum pneumatic specifications, such as receiver volume and pressure, and valve conductance. This article presents a systematic parameter selection approach for pneumatic soft robotic systems by taking into consideration the desired closed-loop pressure responses. The two controllers under evaluation here are the PI controller with anti-windup and the on-off controller with hysteresis. Simulations are developed within Simscape Fluids to evaluate the effect of physical components and controller parameters on the actuator performance. The proposed parameter selection procedures are then applied on three soft actuators and their closed-loop pressure responses are experimentally evaluated. The measured pressure responses are in close agreement with the simulations and satisfy the rise time specifications. |
| doi_str_mv | 10.1109/LRA.2021.3086425 |
| format | Article |
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Due to the increasing demand for higher speed actuation and precision, a need exists for a practical design methodology that converts actuator performance specifications to a set of minimum pneumatic specifications, such as receiver volume and pressure, and valve conductance. This article presents a systematic parameter selection approach for pneumatic soft robotic systems by taking into consideration the desired closed-loop pressure responses. The two controllers under evaluation here are the PI controller with anti-windup and the on-off controller with hysteresis. Simulations are developed within Simscape Fluids to evaluate the effect of physical components and controller parameters on the actuator performance. The proposed parameter selection procedures are then applied on three soft actuators and their closed-loop pressure responses are experimentally evaluated. The measured pressure responses are in close agreement with the simulations and satisfy the rise time specifications.</description><subject>Actuation</subject><subject>Actuators</subject><subject>and learning for soft robots</subject><subject>control</subject><subject>Controllers</subject><subject>hydraulic/pneumatic actuators</subject><subject>Modeling</subject><subject>Parameters</subject><subject>Pneumatic systems</subject><subject>Pneumatics</subject><subject>Receivers</subject><subject>Resistance</subject><subject>Robot kinematics</subject><subject>Sensors</subject><subject>Simulation</subject><subject>Soft robotics</subject><subject>soft sensors and actuators</subject><subject>Specifications</subject><subject>Valves</subject><issn>2377-3766</issn><issn>2377-3766</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkEtLAzEURoMoWLR7wU3A9dS8M3E31CcULK2uQ5JJdEpnUpOZRf-9U1rE1b1wz3c_OADcYDTDGKn7xaqaEUTwjKJSMMLPwIRQKQsqhTj_t1-Cac4bhBDmRFLFJ2D56HPz1UHT1XAeuz7FLYwBLjs_tKZvHFzvc-_bDENMcB1DD1fRxvGQH2AF1007bEcsdrDa7VI07vsaXASzzX56mlfg8_npY_5aLN5f3ubVonCUln2hKOaGIRMYF5bXVnluBEPIEC4dZT5gbJWVgjDhLLI1UkK6UBOpXFmXlNMrcHf8O9b-DD73ehOH1I2VmnCGmShJeaDQkXIp5px80LvUtCbtNUb6oE6P6vRBnT6pGyO3x0jjvf_DFWOSYE5_AWMaaJs</recordid><startdate>20210701</startdate><enddate>20210701</enddate><creator>Xavier, Matheus S.</creator><creator>Fleming, Andrew J.</creator><creator>Yong, Yuen Kuan</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Due to the increasing demand for higher speed actuation and precision, a need exists for a practical design methodology that converts actuator performance specifications to a set of minimum pneumatic specifications, such as receiver volume and pressure, and valve conductance. This article presents a systematic parameter selection approach for pneumatic soft robotic systems by taking into consideration the desired closed-loop pressure responses. The two controllers under evaluation here are the PI controller with anti-windup and the on-off controller with hysteresis. Simulations are developed within Simscape Fluids to evaluate the effect of physical components and controller parameters on the actuator performance. The proposed parameter selection procedures are then applied on three soft actuators and their closed-loop pressure responses are experimentally evaluated. 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| ispartof | IEEE robotics and automation letters, 2021-07, Vol.6 (3), p.5800-5807 |
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| source | IEEE Electronic Library (IEL) |
| subjects | Actuation Actuators and learning for soft robots control Controllers hydraulic/pneumatic actuators Modeling Parameters Pneumatic systems Pneumatics Receivers Resistance Robot kinematics Sensors Simulation Soft robotics soft sensors and actuators Specifications Valves |
| title | Design and Control of Pneumatic Systems for Soft Robotics: A Simulation Approach |
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