Обсуждение участника:SAMSON

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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

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