一种新的动力驱动方法来增强软机器人控制
Dionysios Malas1,2, Shuai Wang2, Wei Huang2
1Department of Surgical & Interventional Engineering, School of Biomedical Engineering & Imaging Sciences, King's College London (KCL), London, UK.
Soft robotics
|December 26, 2024
概括
一种用于软流体执行器 (SFAs) 的新型电动驱动系统提高了速度并降低了噪音. 这种组合的气动和液压方法为医疗机器人和工业应用提供了更好的性能.
科学领域:
- 机器人与机械工程 机器人与机械工程
- 流体动力学 流体动力学
- 控制系统 控制系统
背景情况:
- 软流体执行器 (SFAs) 对医疗机器人至关重要,比刚性设备提供更安全的人机交互.
- 对于SFAs,传统的气动和液压驱动方法在速度,精度和复杂性方面存在局限性.
- 需要先进的执行系统来提高SFA在工业和医疗应用中的性能.
研究的目的:
- 引入和评估SFA的新型动力控制系统,将气动和液压电路连续组合在一起.
- 为了比较拟议的压力控制系统的性能与传统的执行方法.
- 开发和实施基于模型的控制策略,以优化SFA动态行为.
主要方法:
- 对不同流体驱动技术的曲性能和可听噪声水平进行比较评估.
- 分析流体结构相互作用和SFA中被困空气的影响.
- 对系统动态上的流体电路参数 (管道尺寸,流体介质) 的研究.
- 基于模型的PID控制器的开发,使用水电类比和电路理论.
主要成果:
- 拟议的全动力系统显示了在启动速度和降低可听噪声方面的显著改进.
- 该PID控制器提高了52.63%的启动速度,降低了17.17%的噪声.
- 流体力学和电路设计参数被证明对SFA动态行为产生重大影响.
结论:
- 新系列的pneudraulic驱动系统为提高SFA性能提供了一个有前途的解决方案.
- 基于模型的控制,专注于流体动力学,可以有效地优化SFA速度和噪声水平.
- 这项研究强调了流体力学在设计用于苛刻应用的先进软执行器方面的重要性.
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