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 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
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
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
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
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
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
