Нога робота с плетеными пневматическим приводами
ПЕРЕВОДИМ_Оглавление
Оглавление
Благодарности
Аннотация
- 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
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
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
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