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

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 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