Обсуждение участника:SAMSON

Оглавление

Благодарности

Аннотация

Глава I. ВВЕДЕНИЕ

1.1 Background

1.2 Purpose and Overview

Chapter II. Braided Pneumatic Actuators

2.1 Physical Characteristics

2.2 Geometric and Static Model

2.3 Static Model Verification

2.4 Dynamic Model

Chapter III. Simulation

3.1 Simulation Overview

3.2 Equations of Motion

3.3 Valve Model

3.4 Dynamic Model Verification

Chapter IV. Robot Hardware

4.1 System Overview

4.2 Leg Design

4.3 Valves

4.4 Force Sensors

4.5 Angle Sensors

Chapter V. Control

5.1 Control Architecture and Control Laws

5.2 Control Program

5.3 Inverse Kinematics

Chapter VI. Results and Discussion

6.1 Desired Walking Behavior

6.2 Tuning

6.3 Walking Results

6.4 Robot Limitations

6.5 Derivative Control

Chapter VII. Conclusion

7.1 It Walks!

7.2 Semi-Observed Speculation

7.3 Future work

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Appendix A: Simulation Code

A.1 Actuator.cpp

Appendix B: Controller Code

B.1 Control.cpp

B.2 Def.h

B.3 Hardware.cpp

B.4 Predict.dat

B.5 Gain.dat

Appendix C: Robot Hardware

C.1 Strain Gage Amplifier

C.2 Wiring

C.3 Mechanical Drawings

Bibliography

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Список таблиц

Table 4.1 : Transducer sensitivity and error

Table 6.1 : Joint range of motion

Table 6.2 : Time parameters for walking motion

Table 6.3 : Walking motion control gains

Table 6.4 : Passivity and average duty cycles of each valve

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Список иллюстраций

Figure 1.1 : Dimensionless force-length properties of actuators and biological muscles

Figure 2.1 : Photograph of inflated and uninflated actuators

Figure 2.2 : Actuator dimensions

Figure 2.3 : Geometric schematic of actuators

Figure 2.4 : Mesh geometry

Figure 2.5 : Revised actuator geometry schematic

Figure 2.6 : Pressure, Length, Force, Stiffness Relationship for a BPA

Figure 2.7 : Static model verification schematic

Figure 2.8 : Plot of Force vs. Length for a BPA with constant internal mass of air

Figure 2.9 : Pressure Increase vs. Length – constant mass system

Figure 2.10 : Plot of Force vs. Length – constant air mass – Exp. vs. Theor. results

Figure 2.11 : Plot of Effectiveness vs. Pressure

Figure 2.12 : Plot of Force vs. Length – Exp. vs. Theor. Results – (effectiveness)

Figure 2.13 : Plot of Force vs. Length – Constant Pressure System

Figure 2.14 : Dynamic model schematic

Figure 3.1 : Simulation overview schematic

Figure 3.2 : Detailed simulation schematic

Figure 3.3 : Actuator equation of motion schematic

Figure 3.4 : Flow curve for Matrix 758 3-way valve

Figure 3.5 : Dynamic model verification schematic

Figure 3.6 : Length vs. Time – 60 psi constant mass – 6 lb load - measured

Figure 3.7 : Length vs. Time – 60 psi constant mass – 6 lb load - simulation

Figure 3.8 : Length vs. Time – 80 psi constant mass – 11 lb load - measured

Figure 3.9 : Length vs. Time – 80 psi constant mass – 11 lb load - simulation

Figure 3.10 : Length vs. Time – 60 psi constant mass – 11 lb load - measured

Figure 3.11 : Length vs. Time – 60 psi constant mass – 11 lb load - simulation

Figure 3.12 : PWM valve model verification schematic

Figure 3.13 : Commanded vs. Actual duty cycles – Matrix 758 3-way valve

Figure 3.14 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 5 lb load - measured

Figure 3.15 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 5 lb load - simulation

Figure 3.16 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 1 lb load - measured

Figure 3.17 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 1 lb load - simulation

Figure 3.18 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 15 lb load - measured

Figure 3.19 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 15 lb load - simulation

Figure 3.20 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 1 lb load - measured

Figure 3.21 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 1 lb load - simulation

Figure 3.22 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 5 lb load - measured

Figure 3.23 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 5 lb load - simulation

Figure 4.1 : Robot hardware schematic

Figure 4.2 : Photograph of robot

Figure 4.3 : CAD model and photograph of robot leg

Figure 4.4 : CAD model and photograph of hip translational joint

Figure 4.5 : CAD model and photograph of hip rotational joint

Figure 4.6 : Schematic of inlet valve

Figure 4.7 : Schematic of exhaust valve

Figure 4.8 : Current vs. time for inlet valve

Figure 4.9 : Current vs. time for exhaust valve

Figure 4.10 : Force sensor classic analysis schematic

Figure 4.11 : Force sensor FEA results

Figure 4.12 : Photograph of force sensors

Figure 4.13 : Photograph of strain gage amplifier

Figure 4.14 : Transducer calibration plot

Figure 4.15 : Photograph of completed force measurement system

Figure 4.16 : Photograph of completed angle measurement systems

Figure 5.1 : Labeled schematic of a joint

Figure 5.2 : Block diagram of the control algorithm

Figure 5.3 : ISR schematic

Figure 5.4 : Inverse kinematics schematic

Figure 6.1 : Desired foot positions for walking motion

Figure 6.2 : Sequential video frames of the leg during walking motion

Figure 6.3 : Desired and actual x-y foot paths: Test 1

Figure 6.4 : Desired and actual joint angles vs. time: Test 1

Figure 6.5 : Actuator force vs. time

Figure 6.6 : Desired and actual joint stiffness vs. time

Figure 6.7 : Joint torque vs. time

Figure 6.8 : Ground reaction forces during walking vs. time

Figure 6.9 : Trolley motion vs. time

Figure 6.10 : Hip joint valve duty cycles vs. time

Figure 6.11 : Knee joint valve duty cycles vs. time

Figure 6.12 : Desired and actual joint angles vs. time: Test 2

Figure 6.13 : Desired and actual x-y foot paths: Kicking motion

Figure 6.14 : Desired and actual joint angles vs. time: Kicking motion

Figure 6.15 : Calculated angular velocity vs. time

Figure 6.14 : Desired and actual joint angles vs. time: Derivative control

Figure 7.1 : Desired and actual x-y foot paths: Angle feedback only

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Литература

ПЕРЕВОДИМ (DESIGN AND CONTROL OF A ROBOTIC LEG WITH BRAIDED PNEUMATIC ACTUATORS)

Оглавление

Благодарности

Аннотация

Глава I. ВВЕДЕНИЕ

1.1 Background

1.2 Purpose and Overview

Глава II. Braided Pneumatic Actuators

2.1 Physical Characteristics

2.2 Geometric and Static Model

2.3 Static Model Verification

2.4 Dynamic Model

Глава III. Simulation

3.1 Simulation Overview

3.2 Equations of Motion

3.3 Valve Model

3.4 Dynamic Model Verification

Глава IV. Robot Hardware

4.1 System Overview

4.2 Leg Design

4.3 Valves

4.4 Force Sensors

4.5 Angle Sensors

Глава V. Control

5.1 Control Architecture and Control Laws

5.2 Control Program

5.3 Inverse Kinematics

Глава VI. Results and Discussion

6.1 Desired Walking Behavior

6.2 Tuning

6.3 Walking Results

6.4 Robot Limitations

6.5 Derivative Control

Глава VII. Conclusion

7.1 It Walks!

7.2 Semi-Observed Speculation

7.3 Future work

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Приложение A: Simulation Code

A.1 Actuator.cpp

Приложение B: Controller Code

B.1 Control.cpp

B.2 Def.h

B.3 Hardware.cpp

B.4 Predict.dat

B.5 Gain.dat

Приложение C: Robot Hardware

C.1 Strain Gage Amplifier

C.2 Wiring

C.3 Mechanical Drawings

Литература

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Список таблиц

Таблица 4.1 : Transducer sensitivity and error

Таблица 6.1 : Joint range of motion

Таблица 6.2 : Time parameters for walking motion

Таблица 6.3 : Walking motion control gains

Таблица 6.4 : Passivity and average duty cycles of each valve

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Список иллюстраций

Иллюстрация 1.1 : Dimensionless force-length properties of actuators and biological muscles

Иллюстрация 2.1 : Photograph of inflated and uninflated actuators

Иллюстрация 2.2 : Actuator dimensions

Иллюстрация 2.3 : Geometric schematic of actuators

Иллюстрация 2.4 : Mesh geometry

Иллюстрация 2.5 : Revised actuator geometry schematic

Иллюстрация 2.6 : Pressure, Length, Force, Stiffness Relationship for a BPA

Иллюстрация 2.7 : Static model verification schematic

Иллюстрация 2.8 : Plot of Force vs. Length for a BPA with constant internal mass of air

Иллюстрация 2.9 : Pressure Increase vs. Length – constant mass system

Иллюстрация 2.10 : Plot of Force vs. Length – constant air mass – Exp. vs. Theor. results

Иллюстрация 2.11 : Plot of Effectiveness vs. Pressure

Иллюстрация 2.12 : Plot of Force vs. Length – Exp. vs. Theor. Results – (effectiveness)

Иллюстрация 2.13 : Plot of Force vs. Length – Constant Pressure System

Иллюстрация 2.14 : Dynamic model schematic

Иллюстрация 3.1 : Simulation overview schematic

Иллюстрация 3.2 : Detailed simulation schematic

Иллюстрация 3.3 : Actuator equation of motion schematic

Иллюстрация 3.4 : Flow curve for Matrix 758 3-way valve

Иллюстрация 3.5 : Dynamic model verification schematic

Иллюстрация 3.6 : Length vs. Time – 60 psi constant mass – 6 lb load - measured

Иллюстрация 3.7 : Length vs. Time – 60 psi constant mass – 6 lb load - simulation

Иллюстрация 3.8 : Length vs. Time – 80 psi constant mass – 11 lb load - measured

Иллюстрация 3.9 : Length vs. Time – 80 psi constant mass – 11 lb load - simulation

Иллюстрация 3.10 : Length vs. Time – 60 psi constant mass – 11 lb load - measured

Иллюстрация 3.11 : Length vs. Time – 60 psi constant mass – 11 lb load - simulation

Иллюстрация 3.12 : PWM valve model verification schematic

Иллюстрация 3.13 : Commanded vs. Actual duty cycles – Matrix 758 3-way valve

Иллюстрация 3.14 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 5 lb load - measured

Иллюстрация 3.15 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 5 lb load - simulation

Иллюстрация 3.16 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 1 lb load - measured

Иллюстрация 3.17 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 1 lb load - simulation

Иллюстрация 3.18 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 15 lb load - measured

Иллюстрация 3.19 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 15 lb load - simulation

Иллюстрация 3.20 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 1 lb load - measured

Иллюстрация 3.21 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 1 lb load - simulation

Иллюстрация 3.22 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 5 lb load - measured

Иллюстрация 3.23 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 5 lb load - simulation

Иллюстрация 4.1 : Robot hardware schematic

Иллюстрация 4.2 : Photograph of robot

Иллюстрация 4.3 : CAD model and photograph of robot leg

Иллюстрация 4.4 : CAD model and photograph of hip translational joint

Иллюстрация 4.5 : CAD model and photograph of hip rotational joint

Иллюстрация 4.6 : Schematic of inlet valve

Иллюстрация 4.7 : Schematic of exhaust valve

Иллюстрация 4.8 : Current vs. time for inlet valve

Иллюстрация 4.9 : Current vs. time for exhaust valve

Иллюстрация 4.10 : Force sensor classic analysis schematic

Иллюстрация 4.11 : Force sensor FEA results

Иллюстрация 4.12 : Photograph of force sensors

Иллюстрация 4.13 : Photograph of strain gage amplifier

Иллюстрация 4.14 : Transducer calibration plot

Иллюстрация 4.15 : Photograph of completed force measurement system

Иллюстрация 4.16 : Photograph of completed angle measurement systems

Иллюстрация 5.1 : Labeled schematic of a joint

Иллюстрация 5.2 : Block diagram of the control algorithm

Иллюстрация 5.3 : ISR schematic

Иллюстрация 5.4 : Inverse kinematics schematic

Иллюстрация 6.1 : Desired foot positions for walking motion

Иллюстрация 6.2 : Sequential video frames of the leg during walking motion

Иллюстрация 6.3 : Desired and actual x-y foot paths: Test 1

Иллюстрация 6.4 : Desired and actual joint angles vs. time: Test 1

Иллюстрация 6.5 : Actuator force vs. time

Иллюстрация 6.6 : Desired and actual joint stiffness vs. time

Иллюстрация 6.7 : Joint torque vs. time

Иллюстрация 6.8 : Ground reaction forces during walking vs. time

Иллюстрация 6.9 : Trolley motion vs. time

Иллюстрация 6.10 : Hip joint valve duty cycles vs. time

Иллюстрация 6.11 : Knee joint valve duty cycles vs. time

Иллюстрация 6.12 : Desired and actual joint angles vs. time: Test 2

Иллюстрация 6.13 : Desired and actual x-y foot paths: Kicking motion

Иллюстрация 6.14 : Desired and actual joint angles vs. time: Kicking motion

Иллюстрация 6.15 : Calculated angular velocity vs. time

Иллюстрация 6.14 : Desired and actual joint angles vs. time: Derivative control

Иллюстрация 7.1 : Desired and actual x-y foot paths: Angle feedback only

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