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Fluidic Control: Fewer Components For In-Pipe Robot.pdf

a_novel_approach_to_under-actuated_control_of_fluidic_systems.pdf
Preview of Fluidic Control: Fewer Components for In-Pipe Robot
🔗 Source: centropiaggio.unipi.it
📊 Size: 1.75 MB
📄 Pages: 7 pages
⬇️ Downloads: 35

Summary

The traditional method of controlling these systems involves a complex network of active valves and pipes, which can be bulky and heavy. The proposed approach involves co-designing the mechanical parameters of the system and custom input signals to enable the elicitation of different behaviors with fewer control components. This is achieved by shaping the mechanical stiffness and damping to associate different behaviors with different pressure inputs. The principle is presented in theory and simulation, and then experimentally validated through the application to a case study, an in-pipe inchworm-like robot. The results show that it is possible to obtain forward and backward movements by modulating a unique input. The approach is based on modeling the robot with a pneumatic network composed of N-inflatable chambers, connected in parallel to the pressure source. Each chamber is modeled as a piston with a finite stroke, coupled to a spring and a damper, simulating both the equivalent mechanical properties of the chamber and of the connected robot structure. The dynamics of the system are governed by the equations of motion of the pistons and by the mass and energy balances of the air flow. The proposed approach simplifies the pipe and valve robot actuation network, making it possible to obtain different behaviors in the robot with just one single input. The results of the experimental validation are presented, and the future work is discussed. The approach has the potential to simplify the control of soft inflatable robots, making them more lightweight and economic.

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Description

A novel approach to under-actuated control of fluidic systems is presented, enabling the elicitation of different behaviors with fewer control components. This is achieved through co-design of mechanical parameters and custom input signals. The approach is validated through a case study on an in-pipe inchworm-like robot.

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  • File Format: PDF
  • File Size: 1.75 MB
  • Pages: 7
  • Language: EN
  • Total Downloads: 35
  • Last Updated: 1 week ago

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