Chimney Sweeping Robot Based on a Pneumatic Actuator
نویسندگان
چکیده
منابع مشابه
Soft, Rotating Pneumatic Actuator.
This article describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cycl...
متن کاملDynamic pneumatic actuator model for a model-based torque controller
The modeling of pneumatic actuators, also known as artificial muscles, has been the main focus in several research papers in the past [1, 2, 3, 4, 5]. At the Center for Intelligent Systems (CIS) at Vanderbilt University, we have been using pneumatic actuators for our Intelligent Soft Arm Control (ISAC, Figure 1). For the position control of a joint, driven by two artificial muscles, a physical ...
متن کاملResearch on the Spherical Joint Robot Driven by the Pneumatic Muscle Actuator
This paper describes a robot with a spherical joint that imitates the shoulder joint of humans. The robot with a spherical joint is developed considering structural features of a human’s shoulder joint. The spherical joint has three degrees of freedom: abduction or adduction, flexion or extension and internal rotation or external rotation. Furthermore, this robot is actuated by a group of pneum...
متن کاملOn the Observability of Pressure in a Pneumatic Servo Actuator
Pneumatic servo actuators are characterized by highly nonlinear dynamics from spool valve command to cylinder pressure, and as such are well suited to the use of nonlinear control methods requiring measurement of the full state, such as sliding mode control. This paper investigates the possibility of eliminating the pressure measurement required for nonlinear control in lieu of a nonlinear pres...
متن کاملPneumatic Soft Actuator for Human Assist Technology
In the coming advanced age society, an innovative technology to assist the activities of daily living of elderly and disabled people and the heavy work in nursing is desired. To develop such a technology, an actuator safe and friendly for human is required. It should be small, lightweight and has to provide a proper softness. We call such an actuator soft actuator. A pneumatic rubber artificial...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Applied Sciences
سال: 2021
ISSN: 2076-3417
DOI: 10.3390/app11114872