Relevant bibliographies by topics / Pneumatic actuation

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Pneumatic actuation'

Author: Grafiati
Published: 4 June 2021
Last updated: 25 May 2024

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Journal articles on the topic "Pneumatic actuation"

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Wang, Xu Dong, Heng Wei Chen, Liao Wang, Wen Zhou, and Yi Qing Li. "Design and Analysis of Pneumatic Bending Actuator Used in Soft Robotics." Advances in Science and Technology 105 (April 2021): 194–201. http://dx.doi.org/10.4028/www.scientific.net/ast.105.194.

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Pneumatic soft actuators can change their shapes under pneumatic pressure actuation and are capable of continuous bending. However, the air chambers inside will expand during the actuation process and cause nonlinear problems. Therefore pneumatic actuators are difficulties to model. In this paper, three types of bending actuators with different air chamber shapes are designed and the finite element model (FEM) is developed to simulate the deformation under different air pressure actuation. A prototype of the bending actuator is fabricated and a method to limit the expansion of the air chamber is designed based on the FEM results, which can effectively improve the expansion and the response of the actuator under low air pressure conditions through experimental comparison.
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Bharadwaj, Deepak, and Durga Dutt. "Design and Development of Low-Level Automation for the Picking and Placing of the Object Using Pneumatic Suction." Journal Européen des Systèmes Automatisés 54, no. 6 (December 29, 2021): 865–70. http://dx.doi.org/10.18280/jesa.540608.

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Pneumatics suction is being used in the food factory for picking and placing the ingredients of food. A clean environment inside the food factory is very much needed the maintain the quality of packaging food. The present work focuses on the low level of automation so that investment cost for processing the raw ingredient goes down. Two double-acting pneumatic cylinders, one pneumatic suction gripper, three pneumatic direction control valves, one screw compressor, one DC motor, two relays, a Push button, and a 24-volt power supply have been used the implement the system. A combination of pneumatic actuation and electrical actuation is used for controlling the motion of the system. A simple control ON/OFF system was used for the actuation. Pneumatic component drive with the help of compressed air via a direction control valve and motor direction control using the relay. By pressing the push button whole, the setup can be controlled in a very easier way and it is very user-friendly for the operator. Several testings have been done on the setup and an excellent result were obtained during execution.
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Dragone, Donatella, Luigi Randazzini, Alessia Capace, Francesca Nesci, Carlo Cosentino, Francesco Amato, Elena De Momi, Roberto Colao, Lorenzo Masia, and Alessio Merola. "Design, Computational Modelling and Experimental Characterization of Bistable Hybrid Soft Actuators for a Controllable-Compliance Joint of an Exoskeleton Rehabilitation Robot." Actuators 11, no. 2 (January 22, 2022): 32. http://dx.doi.org/10.3390/act11020032.

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This paper presents the mechatronic design of a biorobotic joint with controllable compliance, for innovative applications of “assist-as-needed” robotic rehabilitation mediated by a wearable and soft exoskeleton. The soft actuation of robotic exoskeletons can provide some relevant advantages in terms of controllable compliance, adaptivity and intrinsic safety of the control performance of the robot during the interaction with the patient. Pneumatic Artificial Muscles (PAMs), which belong to the class of soft actuators, can be arranged in antagonistic configuration in order to exploit the variability of their mechanical compliance for the optimal adaptation of the robot performance during therapy. The coupling of an antagonistic configuration of PAMs with a regulation mechanism can achieve, under a customized control strategy, the optimal tuning of the mechanical compliance of the exoskeleton joint over full ranges of actuation pressure and joint rotation. This work presents a novel mechanism, for the optimal regulation of the compliance of the biorobotic joint, which is characterized by a soft and hybrid actuation exploiting the storage/release of the elastic energy by bistable Von Mises elastic trusses. The contribution from elastic Von Mises structure can improve both the mechanical response of the soft pneumatic bellows actuating the regulation mechanism and the intrinsic safety of the whole mechanism. A comprehensive set of design steps is presented here, including the optimization of the geometry of the pneumatic bellows, the fabrication process through 3D printing of the mechanism and some experimental tests devoted to the characterization of the hybrid soft actuation. The experimental tests replicated the main operating conditions of the regulation mechanism; the advantages arising from the bistable hybrid soft actuation were evaluated in terms of static and dynamic performance, e.g., pressure and force transition thresholds of the bistable mechanism, linearity and hysteresis of the actuator response.
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Mirvakili, Seyed M., Douglas Sim, Ian W. Hunter, and Robert Langer. "Actuation of untethered pneumatic artificial muscles and soft robots using magnetically induced liquid-to-gas phase transitions." Science Robotics 5, no. 41 (April 15, 2020): eaaz4239. http://dx.doi.org/10.1126/scirobotics.aaz4239.

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Pneumatic artificial muscles have been widely used in industry because of their simple and relatively high-performance design. The emerging field of soft robotics has also been using pneumatic actuation mechanisms since its formation. However, these actuators/soft robots often require bulky peripheral components to operate. Here, we report a simple mechanism and design for actuating pneumatic artificial muscles and soft robotic grippers without the use of compressors, valves, or pressurized gas tanks. The actuation mechanism involves a magnetically induced liquid-to-gas phase transition of a liquid that assists the formation of pressure inside the artificial muscle. The volumetric expansion in the liquid-to-gas phase transition develops sufficient pressure inside the muscle for mechanical operations. We integrated this actuation mechanism into a McKibben-type artificial muscle and soft robotic arms. The untethered McKibben artificial muscle generated actuation strains of up to 20% (in 10 seconds) with associated work density of 40 kilojoules/meter3, which favorably compares with the peak strain and peak energy density of skeletal muscle. The untethered soft robotic arms demonstrated lifting objects with an input energy supply from only two Li-ion batteries.
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Yu, Qihui, Jianwei Zhai, Qiancheng Wang, Xuxiao Zhang, and Xin Tan. "Experimental Study of a New Pneumatic Actuating System Using Exhaust Recycling." Sustainability 13, no. 4 (February 4, 2021): 1645. http://dx.doi.org/10.3390/su13041645.

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Pneumatic actuating systems are an important power system in industrial applications. Due to exhaust loss, however, pneumatic actuating systems have suffered from a low utilization of compressed air. To recycle the exhaust energy, a novel pneumatic circuit was proposed to realize energy savings through recycling exhaust energy. The circuit consisted of three two-position three-way switch valves, which were used to control the exhaust flows into a gas tank or the ambient environment. This paper introduced the energy recovery configuration and working principles and built a mathematical model of its working process. Then, the mathematical model was verified by experiments. Finally, through experiments in which the air supply pressure, the critical pressure and the volume of the gas tank were regulated, the energy recovery characteristics of the pneumatic actuating system were obtained. Using the new circuit, the experimental results showed that the energy recovery efficiency exceeded 23%. When the air supply pressure was set to 5 bar, 6 bar, and 7 bar, the time required for pneumatic actuation to complete the three working cycles were 5.2 s, 5.3 s, and 5.9 s, respectively. When the critical pressure was set to 0 bar, 0.5 bar, 1 bar, and 1.5 bar, the times for pneumatic actuation to complete the three working cycles were 4.9 s, 5.1 s, 5.2 s, and 5.3 s, respectively. When the volume of the gas tank was set to 2 L, 3 L, 4 L, and 5 L, the number of working cycles was 3, 4, 5, and 6, respectively. This paper provides a new method of cylinder exhaust recycling and lays a good foundation for pneumatic energy savings.
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Chambers, Jonathan M., and Norman M. Wereley. "Analysis of Pneumatic Artificial Muscles and the Inelastic Braid Assumption." Actuators 11, no. 8 (August 4, 2022): 219. http://dx.doi.org/10.3390/act11080219.

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Pneumatic artificial muscles (PAMs) are becoming an increasingly popular form of soft actuator due to their unique actuation characteristics. The creation of accurate PAM actuation models is important for their successful implementation. However, PAM studies often employ actuation models that use simplifying assumptions which make the models easier to formulate and use, but at the cost of reduced accuracy. One of the most commonly used assumptions, the inelastic braid assumption, suggests that the braid does not stretch, and therefore would not affect its geometry or actuation force. Although this assumption has often been cited as a likely source of model error, its use has persevered for decades due to researchers’ inability to directly measure the effects of braid elasticity. The recent development of a photogrammetric method to accurately measure PAM geometry now enables this analysis. This study seeks to assess the current default adoption of the inelastic braid assumption in PAM models by attempting to quantify the braid elasticity effects. This research finds that current models that use the inelastic braid assumption can underestimate PAM diameter by as much as 30%, and overestimate actuation force by as much as 70%. These results show that braid elasticity can have a substantial effect on the geometry and actuation force of PAMs, and demonstrates that the inelastic braid assumption may not be a suitable universal assumption for PAM modeling and analyses, especially when low-stiffness braid materials are used.
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Jun-liang, Ding, Wu Yun, and Zhou You-tian. "Discharge characteristic and flow control experiment for pneumatic actuator of dielectric barrier discharge multistage plasma." International Journal of Electrical Engineering & Education 57, no. 1 (December 1, 2018): 41–53. http://dx.doi.org/10.1177/0020720918813815.

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Test and diagnosis of the characteristics of the air flow induced by the pneumatic actuation of the plasma are the important basis for the plasma flow control. In order to well understand the electrical characteristics of the pneumatic actuation of the plasma and the influence of the actuation voltage amplitude and the phase on the induced flow characteristics, the dielectric barrier discharge actuators symmetrically distributed were selected for the experimental research. The experiment result shows that the discharge form of the actuators symmetrically distributed is filamentary discharge, uniformly occurring around the high-voltage electrodes, and this is different from the discharge picture of the actuators asymmetrically distributed; when the voltage applied on the high-voltage electrode near to the actuators has the same amplitude and phase, the induced directional jet flow is vertical to the actuator surface, and the speed is at the order of meter per second; the change of the amplitude or phase of the voltage applied on the high-voltage electrode of the actuator can induce a jet flow towards the upper left or the upper right, but cannot effectively increase the induced airflow velocity.
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NORITSUGU, Toshiro. "Pneumatic Soft Actuator for a Human-Friendly Actuation System." Proceedings of the JFPS International Symposium on Fluid Power 1999, no. 4 (1999): 605–10. http://dx.doi.org/10.5739/isfp.1999.605.

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Besoiu, Sorin, Vistrian Măties, and Donca Radu. "Mechatronic Design of a Planar Parallel Robot Actuated by Pneumatic Artificial Muscles." Solid State Phenomena 166-167 (September 2010): 57–62. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.57.

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The pneumatic actuation is widely used in robotics. The actuators based on pneumatic artificial muscles are unconventional actuation systems which use the shortening by increase of the volume property which generate an axial force. They have a very good force/volume ratio and some advantages compared with conventional pneumatic actuation. This paper presents the mechatronic design of a PRRRP Biglide planar parallel robot actuated by four artificial muscles in antagonist configuration. The control system is based on an 8-bit microcontroller based development board and the position and force control is made by means of pressure regulation using proportional pressure regulators. It was determined the workspace of PRRRP Biglide parallel robot for different strokes of actuators using discretisation method in Matlab environment.
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Rhie, Wonsei, and Toshiro Higuchi. "Screw-Driven Multi-Channel Peristaltic Pump for Pneumatic Micro Actuator System." Key Engineering Materials 447-448 (September 2010): 478–82. http://dx.doi.org/10.4028/www.scientific.net/kem.447-448.478.

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The authors have developed a miniaturized peristaltic pump which is characterized by multi-channel, low pulsation, high pressure resistance and portability. The pump mainly consists of a disposable pumping channel unit and reusable actuating parts. The pumping channel unit, made of silicone elastomers, has eight pumping channels. The operation principle is based on the peristaltic motion of pumping channels that are occluded by the screw shaft. The shaft rotating inside the pumping channel unit has a spirally arranged projection which deforms and closes down the channels. While the shaft rotates, the pinched locations in the channels move either way according to direction of rotation, squeezing out the air inside. The maximum discharge pressure generated was about 160 kPa at rotating speeds of 30 ~ 180 rpm. A micro pneumatic actuator was fabricated to demonstrate the performance of the pump. The validity of the pump for pneumatic actuation was reported.
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Dissertations / Theses on the topic "Pneumatic actuation"

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Yusop, M. Y. Mohd. "Energy saving for pneumatic actuation using dynamic model prediction." Thesis, Cardiff University, 2006. http://orca.cf.ac.uk/56066/.

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This research investigates a novel method for energy saving in a point-to-point actuation of a pneumatic system. The method predicts the system's actuation using the Gas Law and the actuator model, and commits air supply cut-off at the time when the energy in the actuator is sufficient to complete the actuation task. Experimental implementation is compared with simulation. The effect of the method is compared with conventional no cut-off and end-stroke cut-off actuations. Lumped and finite difference methods are used for transmission line and system actuation modelling. The transmission line, actuator and control valves are modelled and integrated for the system actuation simulation and comparisons between simulation and measured data are performed. Pressure oscillation in the transmission line exists and is captured by stimulating the air dynamics using a new transmission line experimental method. The friction model of the pneumatic actuator is determined by experiment and applied to the energy saving control system as well as the computer modelling algorithm. The determination of pneumatic transmission line bulk modulus is performed through experiment due to the confidentiality of Young's modulus value needed for its calculation. Significant effect has been achieved in implementation and it is found that cut off at end-stroke and cut-off using model prediction can reduce the amount of air potential energy wasted in conventional actuation by up to 43.5% and 80.2% respectively. However the actuation time of predicted cut-off increases by up to 25%.
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Wang, Yi. "MRI-Compatible Pneumatic Actuation Control Algorithm Evaluation and Test System Development." Digital WPI, 2010. https://digitalcommons.wpi.edu/etd-theses/1041.

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"This thesis presents the development of a magnetic resonance imaging (MRI) compatible pneumatic actuation test system regulated by piezoelectric valve for image guided robotic intervention. After comparing pneumatic, hydraulic and piezoelectric MRI-compatible actuation technologies, I present a piezoelectric valve regulated pneumatic actuation system consisted of PC, custom servo board driver, piezoelectric valves, sensors and pneumatic cylinder. This system was proposed to investigate the control schemes of a modular actuator, which provides fully MRI-compatible actuation; the initial goal is to control our MRI-compatible prostate biopsy robot, but the controller and system architecture are suited to a wide range of image guided surgical application. I present the mathematical modeling of the pressure regulating valve with time delay and the pneumatic cylinder. Three different sliding mode control (SMC) schemes are proposed to compare the system performance. Simulation results are presented to validate the control algorithm. Practical tests with parameters determined from simulation show that the system performance attained the goal. A novel MRI- compatible locking device for the pneumatic actuator was developed to provide safe lock function as the pneumatic actuator fully stopped."
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Best, Charles Mansel. "Position and Stiffness Control of Inflatable Robotic Links Using Rotary Pneumatic Actuation." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/5971.

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Inflatable robots with pneumatic actuation are naturally lightweight and compliant. Both of these characteristics make a robot of this type better suited for human environments where unintentional impacts will occur. The dynamics of an inflatable robot are complex and dynamic models that explicitly allow variable stiffness control have not been well developed. In this thesis, a dynamic model was developed for an antagonistic, pneumatically actuated joint with inflatable links.The antagonistic nature of the joint allows for the control of two states, primarily joint position and stiffness. First a model was developed to describe the position states. The model was used with model predictive control (MPC) and linear quadratic control (LQR) to control a single degree of freedom platform to within 3° of a desired angle. Control was extended to multiple degrees of freedom for a pick and place task where the pick was successful ten out of ten times and the place was successful eight out of ten times.Based on a torque model for the joint which accounts for pressure states that was developed in collaboration with other members of the Robotics and Dynamics Lab at Brigham Young University, the model was extended to account for the joint stiffness. The model accounting for position, stiffness, and pressure states was fit to data collected from the actual joint and stiffness estimation was validated by stiffness measurements.Using the stiffness model, sliding mode control (SMC) and MPC methods were used to control both stiffness and position simultaneously. Using SMC, the joint stiffness was controlled to within 3 Nm/rad of a desired trajectory at steady state and the position was controlled to within 2° of a desired position trajectory at steady state. Using MPC,the joint stiffness was controlled to within 1 Nm/rad of a desired trajectory at steady state and the position was controlled to within 2° of a desired position trajectory at steady state. Stiffness control was extended to multiple degrees of freedom using MPC where each joint was treated as independent and uncoupled. Controlling stiffness reduced the end effecter deflection by 50% from an applied load when high stiffness (50 Nm/rad) was used rather than low stiffness (35 Nm/rad).This thesis gives a state space dynamic model for an inflatable, pneumatically actuated joint and shows that the model can be used for accurate and repeatable position and stiffness control with stiffness having a significant effect.
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Kunt, Cengiz O. "Analysis of high speed pneumatic actuation systems under rotary directional on-off flow control /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487596807822691.

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Bubert, Edward A. "Highly extensible skin for a variable wing-span morphing aircraft utilizing pneumatic artificial muscle actuation." College Park, Md. : University of Maryland, 2009. http://hdl.handle.net/1903/9332.

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Thesis (M.S.) -- University of Maryland, College Park, 2009.
Thesis research directed by: Dept. of Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Wirekoh, Jackson O. "Development of Soft Actuation Systems for Use in Human-Centered Applications." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1124.

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In recent years, soft materials have seen increased prevalence in the design of robotic systems and wearables capable of addressing the needs of individuals living with disabilities. In particular, pneumatic artificial muscles (PAMs) have readily been employed in place of electromagnetic actuators due to their ability to produce large forces and motions, while still remaining lightweight, compact, and flexible. Due to the inherent nonlinearity of PAMs however, additional external or embedded sensors must be utilized in order to effectively control the overall system. In the case of external sensors, the bulkiness of the overall system is increased, which places limits on the system’s design. Meanwhile, the traditional cylindrical form factor of PAMs limits their ability to remain compact and results in overly complex fabrication processes when embedded fibers and/or sensing elements are required to provide efficient actuation and control. In order to overcome these limitations, this thesis proposed the design of flat pneumatic artificial muscles (FPAMs) capable of being fabricated using a simple layered manufacturing process, in which water-soluble masks were utilized to create collapsed air chambers. Furthermore, hyperelastic deformation models were developed to approximate the mechanical performance of the FPAMs and were verified through experimental characterization. The feasibility of these design techniques to meet the requirements of human centered applications, including the suppression of hand tremors and catheter ablation procedures, was explored and the potential for these soft actuation systems to act as solutions in other real world applications was demonstrated. We expect the design, fabrication, and modeling techniques developed in this thesis to aid in the development of future wearable devices and motivate new methods for researchers to employ soft pneumatic systems as solutions in human-centered applications.
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ASSAD, MARILIA MAURELL. "CHARACTERIZATION OF COMPONENTS DYNAMIC BEHAVIOR IN A PNEUMATIC ACTUATION SYSTEM FOR CONTROL APPLICATIONS ON REDUCED SCALE MECHANICAL SYSTEMS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=37189@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
Sistemas pneumáticos são equipamentos leves, baratos, limpos e de baixo risco, sendo apropriados para aplicações que necessitem de força e rapidez de resposta. Por outro lado, esse tipo de sistema apresenta restrições devido à principal característica do ar: sua compressibilidade confere efeitos não lineares ao sistema, desde um escoamento turbulento pelas válvulas de controle até sua atuação dentro do cilindro – a qual inclui alta sensibilidade ao atrito e volumes inativos durante o curso do pistão. Essas características particulares dificultam seu controle e posicionamento preciso e limitam sua aplicação, principalmente considerando seu emprego em um mecanismo tipo Plataforma de Stewart em escala reduzida. No presente trabalho apresenta-se a modelagem, simulação computacional e análise experimental do comportamento dinâmico de um sistema de atuação pneumático que inclui uma válvula de controle de vazão não convencional, composta de quatro válvulas proporcionais, e um atuador com haste simples de dupla ação. O objetivo deste trabalho é, baseado nos resultados experimentais, determinar as características desses componentes para desenvolver estratégias de controle em tempo real capazes de minimizar os efeitos das não linearidades típicas, visando sua utilização no mecanismo anteriormente mencionado.
Pneumatic equipment is lightweight, cheap, clean and low-risk, being suitable for applications that require strength and high responsiveness. Nevertheless, this type of system has some limitations due to the air main feature: its compressibility results in nonlinear effects in the system, from the turbulent flow control valves to its performance inside the cylinder - which includes high sensitivity to friction and dead volumes during the stroke piston. These particular characteristics make its control and precise positioning difficult, limiting its application, especially when considered its use in a mechanism such as a Stewart Platform in a reduced scale. The present paper presents the modeling, computational simulation and experimental analysis of the dynamic behavior of a pneumatic actuation system that includes an unconventional flow control valve, consisting of four proportional valves, and a double acting single rod actuator. The final goal of this work is to, based on experimental results, determine the characteristics of these components in order to develop real-time control strategies which can minimize the effects of those typical nonlinearities for their use in the mechanism mentioned above.
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Kirn, Johannes [Verfasser], Horst [Akademischer Betreuer] [Gutachter] Baier, and Klaus [Gutachter] Drechsler. "Investigation of a shape adaptive aircraft wing leading edge with pneumatic actuation / Johannes Kirn ; Gutachter: Klaus Drechsler, Horst Baier ; Betreuer: Horst Baier." München : Universitätsbibliothek der TU München, 2017. http://d-nb.info/1129874478/34.

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Terry, Jonathan Spencer. "Adaptive Control for Inflatable Soft Robotic Manipulators with Unknown Payloads." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/6769.

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Soft robotic platforms are becoming increasingly popular as they are generally safer, lighter, and easier to manufacture than their more rigid, heavy, traditional counterparts. These soft platforms, while inherently safer, come with significant drawbacks. Their compliant components are more difficult to model, and their underdamped nature makes them difficult to control. Additionally, they are so lightweight that a payload of just a few pounds has a significant impact on the manipulator dynamics. This thesis presents novel methods for addressing these issues. In previous research, Model Predictive Control has been demonstrably useful for joint angle control for these soft robots, using a rigid inverted pendulum model for each link. A model describing the dynamics of the entire arm would be more desirable, but with high Degrees of Freedom it is computationally expensive to optimize over such a complex model. This thesis presents a method for simplifying and linearizing the full-arm model (the Coupling-Torque method), and compares control performance when using this method of linearization against control performance for other linearization methods. The comparison shows the Coupling-Torque method yields good control performance for manipulators with seven or more Degrees of Freedom. The decoupled nature of the Coupling-Torque method also makes adaptive control, of the form described in this thesis, easier to implement. The Coupling-Torque method improves performance when the dynamics are known, but when a payload of unknown mass is attached to the end effector it has a significant impact on the dynamics. Adaptive Control is needed at this point to compensate for the model's poor approximation of the system. This thesis presents a method of layering Model Reference Adaptive Control in concert with Model Predictive Control that improves control performance in this scenario. The adaptive controller modifies dynamic parameters, which are then delivered to the optimizer, which then returns inputs for the system that take all of this information into account. This method has been shown to reduce step input tracking error by 50% when implemented on the soft robot.
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Kraus, Dustan Paul. "Coordinated, Multi-Arm Manipulation with Soft Robots." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7066.

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Soft lightweight robots provide an inherently safe solution to using robots in unmodeled environments by maintaining safety without increasing cost through expensive sensors. Unfortunately, many practical problems still need to be addressed before soft robots can become useful in real world tasks. Unlike traditional robots, soft robot geometry is not constant but can change with deflation and reinflation. Small errors in a robot's kinematic model can result in large errors in pose estimation of the end effector. This error, coupled with the inherent compliance of soft robots and the difficulty of soft robot joint angle sensing, makes it very challenging to accurately control the end effector of a soft robot in task space. However, this inherent compliance means that soft robots lend themselves nicely to coordinated multi-arm manipulation tasks, as deviations in end effector pose do not result in large force buildup in the arms or in the object being manipulated. Coordinated, multi-arm manipulation with soft robots is the focus of this thesis. We first developed two tools enabling multi-arm manipulation with soft robots: (1) a hybrid servoing control scheme for task space control of soft robot arms, and (2) a general base placement optimization for the robot arms in a multi-arm manipulation task. Using these tools, we then developed and implemented a simple multi-arm control scheme. The hybrid servoing control scheme combines inverse kinematics, joint angle control, and task space servoing in order to reduce end effector pose error. We implemented this control scheme on two soft robots and demonstrated its effectiveness in task space control. Having developed a task space controller for soft robots, we then approached the problem of multi-arm manipulation. The placement of each arm for a multi-arm task is non-trivial. We developed an evolutionary optimization that finds the optimal arm base location for any number of user-defined arms in a user-defined task or workspace. We demonstrated the utility of this optimization in simulation, and then used it to determine the arm base locations for two arms in two real world coordinated multi-arm manipulation tasks. Finally, we developed a simple multi-arm control scheme for soft robots and demonstrated its effectiveness using one soft robot arm, and one rigid robot with low-impedance torque control. We placed each arm base in the pose determined by the base placement optimization, and then used the hybrid servoing controller in our multi-arm control scheme to manipulate an object through two desired trajectories.
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Books on the topic "Pneumatic actuation"

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Liu, K. Optoelectronic actuation for pneumatic pressure control. Manchester: UMIST, 1987.

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Vladimir, Krejnin German, ed. Pneumatic actuating systems for automatic equipment: Structure and design. Boca Raton: Taylor & Francis, 2006.

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United States. National Aeronautics and Space Administration., ed. Partial gravity simulation using a pneumatic actuator with closed loop mechanical amplification. [Washington, DC]: National Aeronautics and Space Administration, 1994.

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Krivts, Igor Lazar, and German Vladimir Krejnin. Pneumatic Actuating Systems for Automatic Equipment. CRC Press, 2016. http://dx.doi.org/10.1201/9781420004465.

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Krivts, Igor Lazar, and German Vladimir Krejnin. Pneumatic Actuating Systems for Automatic Equipment: Structure and Design. Taylor & Francis Group, 2006.

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Krivts, Igor Lazar, and German Vladimir Krejnin. Pneumatic Actuating Systems for Automatic Equipment: Structure and Design. Taylor & Francis Group, 2016.

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Krivts, Igor Lazar, and German Vladimir Krejnin. Pneumatic Actuating Systems for Automatic Equipment: Structure and Design. Taylor & Francis Group, 2016.

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NCCER. CT19 5-17 Adjust Actuator/Operator, Pneumatic Trainee Guide. Pearson Education, Limited, 2018.

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NCCER. CT21 1-17 Repair Valve Actuator/Operator, Pneumatic Trainee Guide. Pearson Education, Limited, 2018.

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Book chapters on the topic "Pneumatic actuation"

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Kluge, S., G. Neumayer, U. Schaber, M. Wackerle, M. Maichl, P. Post, M. Weinmann, and R. Wanner. "Pneumatic Silicon Microvalves with Piezoelectric Actuation." In Transducers ’01 Eurosensors XV, 896–99. Berlin, Heidelberg: Springer Berlin Heidelberg, 2001. http://dx.doi.org/10.1007/978-3-642-59497-7_212.

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Venev, Pavel, Ivanka Veneva, and Dimitar Chakarov. "Pneumatic Control System for Exoskeleton Joint Actuation." In Biosystems & Biorobotics, 345–50. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-69547-7_56.

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Ortlieb, A., J. Olivier, M. Bouri, and H. Bleuler. "Series Elastic Actuation for Assistive Orthotic Devices: Case Study of Pneumatic Actuator." In New Trends in Medical and Service Robots, 113–25. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-30674-2_9.

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Antonescu, O., D. Valeanu, and D. Antonescu. "Elevating Platforms with Hydraulic/Pneumatic Actuation for Automotive Maintenance." In Proceedings of SYROM 2022 & ROBOTICS 2022, 77–86. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-25655-4_9.

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Rajasekar, K., S. Karthikeyan, V. Kumar, and H. S. Satish Chandra. "Hydro Pneumatic Parking Brake Actuation System for Motor Grader Application." In Lecture Notes in Mechanical Engineering, 569–76. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4488-0_47.

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Guo, Xin-Yu, Wen-Bo Li, and Wen-Ming Zhang. "Rapid Actuation for Soft Pneumatic Actuators Using Dynamic Instability Mechanism." In Intelligent Robotics and Applications, 387–97. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-66645-3_33.

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Guo, Xin-Yu, Wen-Bo Li, and Wen-Ming Zhang. "Rapid Actuation for Soft Pneumatic Actuators Using Dynamic Instability Mechanism." In Intelligent Robotics and Applications, 387–97. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-66645-3_33.

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Kalita, Bhaben, Arunjyoti Borgohain, and Santosha K. Dwivedy. "Antagonistic Actuation of Pneumatic Artificial Muscle (PAM) with Chain-Sprocket Mechanism." In Lecture Notes in Mechanical Engineering, 1659–68. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-0550-5_160.

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Lohse, J., A. Berthold, and W. Nitsche. "Experimental Studies on the Receptivity of Stationary Crossflow Modes to Pneumatic Actuation." In Notes on Numerical Fluid Mechanics and Multidisciplinary Design, 263–73. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-64519-3_24.

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Liao, Zhuxiu, Jiayuan Liu, Longfei Ma, and Hongen Liao. "A Soft Robot Based on Magnetic-Pneumatic Hybrid Actuation for Complex Environments." In 12th Asian-Pacific Conference on Medical and Biological Engineering, 91–97. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-51485-2_11.

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Conference papers on the topic "Pneumatic actuation"

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Trajkovic, Sasa, Alexandar Milosavljevic, Per Tunestål, and Bengt Johansson. "FPGA Controlled Pneumatic Variable Valve Actuation." In SAE 2006 World Congress & Exhibition. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 2006. http://dx.doi.org/10.4271/2006-01-0041.

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Pohl, Henning, Dennis Becke, Eugen Wagner, Maximilian Schrapel, and Michael Rohs. "Wrist Compression Feedback by Pneumatic Actuation." In CHI '15: CHI Conference on Human Factors in Computing Systems. New York, NY, USA: ACM, 2015. http://dx.doi.org/10.1145/2702613.2725427.

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Leephakpreeda, Thananchai, Kanchana C. Wickramatunge, Sio-Iong Ao, Alan Hoi-Shou Chan, Hideki Katagiri, and Li Xu. "Pneumatic Artificial Muscle Actuation and Modeling." In IAENG TRANSACTIONS ON ENGINEERING TECHNOLOGIES VOLUME 3: Special Edition of the International MultiConference of Engineers and Computer Scientists 2009. AIP, 2009. http://dx.doi.org/10.1063/1.3256256.

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Wang, Yi, Hao Su, Kevin Harrington, and Gregory S. Fischer. "Sliding Mode Control of Piezoelectric Valve Regulated Pneumatic Actuator for MRI-Compatible Robotic Intervention." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4203.

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This paper presents the design of a magnetic resonance imaging (MRI) compatible pneumatic actuator regulated by piezoelectric valve for image guided robotic intervention. After comparing pneumatic, hydraulic and piezoelectric MRI compatible actuation technologies, we present a piezoelectric valve regulated pneumatic actuation system consisted of PC, custom servo board driver, piezoelectric valves, sensors and pneumatic cylinder. The system was proposed to investigate the control schemes of a modular actuator; which offers fully MRI compatible actuation; the initial goal is to control our MRI compatible prostate biopsy robot, but the controller and system architecture are suited to a wide range of image guided surgical application. We present the mathematical modeling of the pressure regulating valve with time delay and the pneumatic cylinder. Three sliding mode control schemes are proposed to compare the system performance. Preliminary simulation results are presented to validate the control algorithm.
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Pitt, E. Bryn, Nabil Simaan, and Eric J. Barth. "An Investigation of Stiffness Modulation Limits in a Pneumatically Actuated Parallel Robot With Actuation Redundancy." In ASME/BATH 2015 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/fpmc2015-9613.

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Actuation redundancy in parallel mechanisms has been predominantly investigated assuming electromechanical actuators. Pneumatic actuation offers new alternatives to achieving stiffness modulation in parallel robots. This paper investigates the limits of stiffness modulation using two alternatives: modulation of joint-level stiffness using antagonistic pneumatic actuators (passive stiffness modulation) and stiffness modulation using antagonistic actuation at the structure level (active stiffness modulation). A surrogate translational parallel robot architecture, which is a variant of the Delta robot with one redundant kinematic chain, is used in this investigation. A simplified model of a pneumatic double-acting piston actuator is used to establish upper and lower bounds for attainable joint-level stiffness. A kinematic model of the parallel robot is presented along with its passive and active stiffness models. A simulation study is carried out assuming attainable joint-level stiffness based on the simplified pneumatic actuator model. The simulations show that, due to the achievable low pneumatic actuator stiffness, the active stiffness contribution can be as high as 65% of the passive stiffness within the robot workspace. This preliminary investigation suggests that pneumatic actuators are uniquely suited for robot interaction tasks (e.g. assembly or rehabilitation) where stiffness control and modulation can offer increased safety and task-specific end-effector stiffness.
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Napp, Nils, Brandon Araki, Michael T. Tolley, Radhika Nagpal, and Robert J. Wood. "Simple passive valves for addressable pneumatic actuation." In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014. http://dx.doi.org/10.1109/icra.2014.6907041.

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Bobrow, James E., and Faryar Jabbari. "Adaptive Pneumatic Force Actuation and Position Control." In 1989 American Control Conference. IEEE, 1989. http://dx.doi.org/10.23919/acc.1989.4790425.

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Wu, Molei, Hao Zheng, and Xiangrong Shen. "Double-Acting Sleeve Muscle: Concept and Example Application in Powered Prostheses." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-51052.

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Pneumatic muscle actuator is a type of muscle-like actuator that mimics human skeletal muscle action through an airtight elastic tube. This unique type of actuator is able to generate a large output force with a very lightweight structure, and thus has been used in various robotic systems. In this paper, the authors further expand the performance and functionality of pneumatic actuator by introducing a unique modification to the actuator structure. Specifically, a telescoping insert is integrated to the center of the actuator. This insert serves dual purposes. First, by eliminating the central space in the pneumatic muscle, this structural change increases the force output and reduces the energy consumption of the actuator. Second, the insert incorporates an additional pneumatic chamber at the center of the actuator, which enables the actuator to generate an extension force and become a double-acting actuator. Comparative experimental results demonstrated the advantages of the new actuator over the traditional pneumatic muscle with respect to the actuation force over the entire range of motion. Furthermore, a design example, knee actuation mechanism in a powered leg prosthesis, is presented to illustrate the application of the new actuator. To provide the desired performance, a double-acting sleeve muscle drives the knee joint through an inverted crank-slider mechanism. A graphic comparison shows that the actuation system is able to provide sufficient torque to support a 75 kg user’s level walking and stair climbing.
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Firouzeh, Amir, Marco Salerno, and Jamie Paik. "Soft pneumatic actuator with adjustable stiffness layers for Multi-DoF Actuation." In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2015. http://dx.doi.org/10.1109/iros.2015.7353510.

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Fredlund, Terry L., and Joe Mares. "All-Electric Actuator for Mid-Size Gas Turbines." In ASME Turbo Expo 2004: Power for Land, Sea, and Air. ASMEDC, 2004. http://dx.doi.org/10.1115/gt2004-53082.

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A number of actuators are available for mid-size industrial gas turbine engines in the marketplace today. These designs utilize pneumatic, hydraulic, electro-pneumatic, electro-hydraulic, and all-electric actuation technologies. The electro-hydraulic has been the most common mid-size industrial gas turbine actuation technology over the last 20 years. This paper focuses on a new all-electric actuator technology developed specifically for mid-size gas turbines using an integrally mounted controller. This paper discusses the significant technical challenges to integrally mounting all-electric actuator motor controller.
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Reports on the topic "Pneumatic actuation"

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Harold Schock, Farhad Jaberi, Ahmed Naguib, Guoming Zhu, and David Hung. High-Compression-Ratio; Atkinson-Cycle Engine Using Low-Pressure Direct Injection and Pneumatic-Electronic Valve Actuation Enabled by Ionization Current and Foward-Backward Mass Air Flow Sensor Feedback. Office of Scientific and Technical Information (OSTI), December 2007. http://dx.doi.org/10.2172/967307.

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Lilly, John H. Pneumatic Muscle Actuator Control. Fort Belvoir, VA: Defense Technical Information Center, February 2004. http://dx.doi.org/10.21236/ada420339.

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Carnal, C. L., J. G. Parrott, T. L. Williams, and J. F. McCormick. Advanced Pneumatic Actuator Control. Office of Scientific and Technical Information (OSTI), December 1997. http://dx.doi.org/10.2172/770549.

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Purasinghe, Rupa, Maria Feng, and Masanobu Shinozuka. Development of High Performance Pneumatic Muscle Actuator Systems. Fort Belvoir, VA: Defense Technical Information Center, November 1999. http://dx.doi.org/10.21236/ada415587.

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