Electro-Pneumatic Pressure Servo-Control for a Miniature Robot with Rubber Actuator

摘要：

This paper described the structure of a flexible miniature robot system which can move in human cavities, it makes inchworm-like movement driven by a 3-DOF pneumatic rubber actuator and holds its positions by air chambers. The driving characteristic models in axial and bending directions of the actuator were set up, and an electro-pneumatic pressure control system for the locomotion of the robot was designed. The nonlinear characteristics of pneumatic pressure-position servo-control system were analyzed; the fluid flow characteristic equation in pipe and the electromagnetic valve on-off characteristic equation were set up. Experiments proved the pressure in all air chambers of robot system can be controlled more accurately by adopting the PWM ((Pulse Width Modulation) technique, and the robot could move smoothly through the electropneumatic pressure control system. The study is the base of effective control for the locomotion of the miniature pneumatic robot.

关键词： Miniature Robot Rubber Actuator Nonlinear Characteristic Analysis Pneumatic Pressure Servo-Control

作者: Yu Lianzhi Lu Yuesheng Hu Zhongying Cheng Jian

作者单位: University of Shanghai for Science and Technology, Shanghai, 200093, China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 630-633

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）