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pneumatic webbed soft gripper for unstructured grasping

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 robots.Being naturally different from the traditional rigid robot,soft robotics provide highly promising choices with their intrinsic flexibility and compliance to objects.Inspired by duck foot and octopus tentacle,a pneumatic webbed soft gripper was proposed,which is consisted of four multi-chambered fingers and four webs.Due to its silicone body and soft web structure,the developed soft gripper can naturally adapt,grasp and hold delicate and unstructured objects.Compressed air inflated into the three chambers of the finger actuates the silicone body and performs inflection and extension.The silicone web follows the motion of four fingers,forming a semi-closed grasping configuration.The fingers were fabricated with silicone rubber and constraint spring by casting process.The web was cast around the fingers.The inflecting motion was modeled via the pneumatic principle and geometrical analysis.The dynamic properties of the finger were tested by step and sinusoidal signals.And the grasping performances for different objects,such as egg,strawberry,candy,and knife,were also demonstrated by experiments.The proposed soft gripper performed stably in response to a 0.4 Hz reference sinusoidal signal.The bionic structure greatly improves the stability and reliability of grasping,particularly for unstructured and fragile objects.Moreover,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

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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 mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator system.Compared 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 accuracy.In 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 applied.The hardware experimental system is established.Through 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 test.The experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible manipulator.This 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

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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 excitations.Then, 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)

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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.

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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 described.By simplifying its physical model,two dynamic models of the UAV launch system are established based on Lagrange equation and MSC.ADAMS,respectively.The curves of the acceleration and the velocity of UAV changing with time are obtained.The simulation results are compared with the experimental results to verify the correctness of the model.Then,the influence of the parameters on the launch is explored.Finally,the system is optimized.The maximum overload and the acceleration fluctuation are reduced.

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

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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 actuator.To 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 actuator.With 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 planned.Based on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the robot.The torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired robot.During the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning movements.The 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

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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 PMA.The 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 expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This 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 characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental 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

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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.

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Fuzzy optimization of pneumatic half-floating slide ways

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Journal of Central South University 2008年第S2期15卷 377-382页

作者：李宇鹏高殿荣单彦霞张海青 School of Mechanical Engineering Yanshan University

Dynamic modeling was carried on by combining the dynamic of machinery with composite triology, and the critical condition in which the ways would not produce composite-friction self-excited vibration was obtained. The movement regularity and characteristic of the airflow in exhaust gas slit were analyzed, and the relationship between pressure lost and geometry parameters of exhaust gas slit was obtained. A dynamic model and a mathematical model were established for pneumatic half-floating slide ways by combining the dynamics of machinery with hydrokinetics. The objective function for the optimization of slide ways was established based on the fuzzy optimization theory. The membership function of fuzzy constraint was deduced, the fuzzy constraint limit was established by amplification coefficient method, and the optimal value was resolved by the multilevel fuzzy comprehensive evaluation method. By combining the internal penalty function method with the variable metric method, the fuzzy optimization design program of ways was designed based on the Matlab platform. The validation was carried on by an example, and ideal results of fuzzy optimization design of slide ways were obtained.

关键词： pneumatic half-floating slide ways composite-friction self-excited vibration dynamic modeling design parameter fuzzy optimization

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Separation of shelled walnut particles using pneumatic method

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International Journal of Agricultural and Biological Engineering 2013年第3期6卷 88-93页

作者： A.Mokhtari Nahal A.Arabhosseini M.H.Kianmehr Department of Agrotechnology College of AbouraihanUniversity of TehranPakdasht ***TehranIran

Separation of shelled walnut particles was studied on two varieties of Persian walnut,Poost-Kaghazi and Poost-Sangi using pneumatic method.The moisture contents of the samples were determined.The particles were considered in three categories of shell,kernel and shell-kernel together.Each category was manually classified based on their size,in three portions of 1/8,1/4,and 1/2,as well as the whole kernel and whole walnut.The terminal velocity of each group was determined.The shelled walnuts were sieved and classified in three groups of small,medium and large.The effects of separation time(5,10 and 15 seconds),feeding value(50 to 80 gr)and air velocity on separation of the kernels and shells were studied for both varieties.The interaction effects were also studied for three walnut sizes(small,medium and large).The terminal velocity was the highest for the whole walnut and the whole kernel while it was lowest for 1/4 and 1/8 of the shell.The best separation was performed at air velocities of 9.20,10.04 and 10.94 m/s with 98.2%,98.9%and 98.2%,respectively.

关键词： pneumatic separation of kernel and shell terminal velocity walnut postharvest shelled walnut Persian walnut

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