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
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
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