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Fuzzy Torque Control of the Bionic Flexible Manipulator Actuated by pneumatic Muscle Actuators

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Chinese Journal of Mechanical Engineering 2019年第5期32卷 80-94页

作者： Kai Liu Yining Chen Jiaqi Xu Yang Wu Yonghua Lu Dongbiao Zhao College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics

A bionic flexible manipulator driven by pneumatic muscle actuator(PMA)can better reflect the flexibility of the *** research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator *** with traditional electro-hydraulic actuators,the structure of PMA is simple but possesses strong nonlinearity and flexibility,which leads to the difficulty in improving the control *** this paper,the configuration design of a bionic flexible manipulator is performed by human physiological map,the kinematic model of the mechanism is established,and the dynamics is analyzed by Lagrange method.A fuzzy torque control algorithm is designed based on the computed torque method,where the fuzzy control theory is *** hardware experimental system is *** the co-simulation contrast test on MATLAB and ADAMS,it is found that the fuzzy torque control algorithm has better tracking performance and higher tracking accuracy than the computed torque method,and is applied to the entity control *** experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible *** research proposes a fuzzy torque control algorithm which can compensate the error more effectively,and possesses the preferred trajectory tracking performance.

关键词： pneumatic muscle actuator Bionic flexible manipulator Computed torque method Fuzzy torque control

pneumatic webbed soft gripper for unstructured grasping

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International Journal of Agricultural and Biological Engineering 2021年第4期14卷 145-151页

作者： Shibo Cai Chun’e Tang Lufeng Pan Guanjun Bao Wenyu Bai Qinghua Yang College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China Instrumentation Technology and Economy Institute Beijing 100055China

Grasping unstructured and fragile objects such as food and fruits is a great challenge for *** naturally different from the traditional rigid robot,soft robotics provide highly promising choices with their intrinsic flexibility and compliance to *** by duck foot and octopus tentacle,a pneumatic webbed soft gripper was proposed,which is consisted of four multi-chambered fingers and four *** to its silicone body and soft web structure,the developed soft gripper can naturally adapt,grasp and hold delicate and unstructured *** air inflated into the three chambers of the finger actuates the silicone body and performs inflection and *** silicone web follows the motion of four fingers,forming a semi-closed grasping *** fingers were fabricated with silicone rubber and constraint spring by casting *** web was cast around the *** inflecting motion was modeled via the pneumatic principle and geometrical *** dynamic properties of the finger were tested by step and sinusoidal *** the grasping performances for different objects,such as egg,strawberry,candy,and knife,were also demonstrated by *** proposed soft gripper performed stably in response to a 0.4 Hz reference sinusoidal *** bionic structure greatly improves the stability and reliability of grasping,particularly for unstructured and fragile ***,the webs ensure the grasping for multiple objects in one snatch,especially suitable for agricultural products and food processing.

关键词： soft gripper biomimetics grasping robotic pneumatic

Modeling and compensation of hysteresis for pneumatic artificial muscles based on Gaussian mixture models

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Science China(Technological Sciences) 2019年第7期62卷 1094-1102页

作者： XU JiHao XIAO MuBang DING Ye State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University

This paper presents a new data-driven model of length-pressure hysteresis of pneumatic artificial muscles(PAMs) based on Gaussian mixture models(GMMs). By ignoring the high-order dynamics, the hysteresis of PAMs is modeled as a first-order nonlinear dynamical system based on GMMs, and inversion of the model is subsequently derived. Several verification experiments are conducted. Firstly, parameters of the model are identified under low-frequency triangle-wave pressure ***, pressure signals with different amplitudes, shapes and frequencies are applied to the PAM to test the prediction performance of the model. The proposed model shows advantages in identification efficiency and prediction precision compared with a generalized Prandtl–Ishlinskii(GPI) model and a modified generalized Prandtl–Ishlinskii(MGPI) model. Finally, the effectiveness of the inverse model is demonstrated by implementing the feedforward hysteresis compensation in trajectory tracking experiments.

关键词： hysteresis modeling hysteresis compensation pneumatic artificial muscles (PAMs) Gaussian mixture model (GMM)

Simulation and experimental study of electro-pneumatic valve used in air-powered engine

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2009年第3期10卷 377-383页

作者： Ping-lu CHEN Xiao-li YU Lin LIU College of Mechanical and Energy Engineering Zhejiang University Hangzhou 310027 China College of Engineering Jiangxi Agricultural University Nanchang 330045 China

To evaluate the performance of newly designed electro-pneumatic valves (EPVs) for the air-powered engine (APE) and study laws of parameters affecting them, a simulation model was established based on the thermodynamics and mechanics theories. Experiments were set up to determine the instantaneous effective orifice area of solenoid valve by the constant volume discharge method. The simulation model was also validated by comparing the measured displacement curve with the simulated displacement curve of the valve in the pressure of 0.16 and 0.49 MPa. Simulation and experimental results showed that maximum working frequency of the designed EPV could reach 30 Hz corresponding to 2000 r/min of engine rotating speed. Based on simulation results, impacts of temperature and pressure of control air on delay time, full opening/closing time and seating velocity of EPV were analyzed. The simulation model could also act as EPV simulation prototype in designing the air exchange control system of APE.

关键词： pneumatic Variable valve actuation (VVA) Air-powered engine (APE) Simulation

A Numerical Analysis of Turbulent Compressible Radial Channel Flow with Particular Reference to pneumatic Controllers

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Journal of Thermal Science 2004年第1期13卷 24-29页

作者： Gilles Roy Dinh Vo-Ngoc Vadim Bravine Faculty of Engineering Université de MonctonMonctonNBCanadaE1A 3E9Faculty of EngineeringUniversité de MonctonMonctonNBCanadaE1A 3E9Faculty of EngineeringUniversité de MonctonMonctonNBCanadaE1A 3E9

A numerical analysis of turbulent axisymmetric radial compressible channel flow between a nozzle and a flat plate is presented in this paper. In particular, the application of this type of flow situation in pneumatic dimensional control systems is considered. The Spalart-Allmaras one-equation turbulence model is used. The resulting highly coupled PDE system has been solved using the control volume based numerical approach where the power-law scheme was used extensively to compute the diffusive and convective fluxes of momentum. Results show that local Mach numbers can easily achieve and surpass unity for typical industrial configurations. Also, in the case of a standard industrial nozzle geometry, the presence of a toroidal recirculation zone that moves radially outward is clearly identified in most cases. Separated flow areas are of particular concern as it has been shown previously that they can cause nozzle fouling in industrial applications. It has been shown that the size of this region is dependant on feed pressure. Considerable differences between results obtained using the Spalart-Allmaras and standard k- εturbulence models have also been noticed.

关键词： compressible radial flow numerical simulation pneumatic controllers impinging jet with confinement.

Dynamic Analysis and Optimization of pneumatic Wedge-Shaped Launcher for UAV

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Transactions of Nanjing University of Aeronautics and Astronautics 2018年第5期35卷 866-873页

作者： Huang Min He Cheng Pei Jinhua College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of UAV’s Advanced Technology(Nanjing University of Aeronautics and Astronautics) Ministry of Industry and Information Technology

The constitution,structure,working principle and launching process of the wedge-shaped pneumatic launcher of an unmanned aerial vehicle(UAV)are *** simplifying its physical model,two dynamic models of the UAV launch system are established based on Lagrange equation and ***,*** curves of the acceleration and the velocity of UAV changing with time are *** simulation results are compared with the experimental results to verify the correctness of the ***,the influence of the parameters on the launch is ***,the system is *** maximum overload and the acceleration fluctuation are reduced.

关键词： unmanned aerial vehicle pneumatic launching dynamic simulation system optimization

Experimental Study on Frog-inspired Swimming Robot Based on Articulated pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

Rotation Control of a 3-DOF Parallel Mechanism Driven by pneumatic Muscle Actuators

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Transactions of Nanjing University of Aeronautics and Astronautics 2019年第2期36卷 330-338页

作者： LIU Kai CHEN Yining WU Yang XU Jiaqi WANG Yangwei GE Zhishang College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics

The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of *** concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this *** the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is *** bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation *** kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control *** results demonstrate the effectiveness of this new static model.

关键词： pneumatic muscle actuator static mathematical model hybrid elastic modulus 3-DOF parallel mechanism

Experimental Study on Wavy-Flow pneumatic Conveying in Horizontal Pipe

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Journal of Thermal Science 2002年第2期11卷 114-120页

作者： Hua Xu Shi Liu Haigang Wang Fan Jiang Chinese Acad Sci Inst Engn Thermophys Beijing 100080 Peoples R China

Low-velocity pneumatic conveying systems have been developed to meet the requirement of low operation costs and have been widely used in chemical and process industries. However, the understanding of the mechanism is limited. This paper reports an experimental study on a slug-flow pneumatic conveying. Electrical capacitance tomography has been used to visualize plug shape and identify the flow pattern. Comparison was made between the experimental data of pressure drop with existed models.

关键词： pneumatic conveying wavy flow pressure drop electrical capacitance tomography.