OpenPneu: Compact Platform for Pneumatic Actuation with Multi-Channels
OpenPneu: Compact Platform for Pneumatic Actuation with Multi-Channels
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DOI：
10.1109/aim46323.2023.10196254
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发表时间：
2022-09
期刊：
影响因子：
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通讯作者：
Yingjun Tian;Renbo Su;Xilong Wang;Nur Banu Altin;Guoxin Fang;Charlie C. L. Wang-
中科院分区：
文献类型：
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作者：
Yingjun Tian;Renbo Su;Xilong Wang;Nur Banu Altin;Guoxin Fang;Charlie C. L. Wang-
本文介绍了OpenPneu，一个紧凑的系统，旨在促进气动驱动的多室软机器人。在该系统中，微型泵用于产生气流，消除了对额外压缩空气输入的需要。OpenPneu的特点是其模块化设计，允许出色的可扩展性，正如十通道原型所证明的那样。OpenPneu中的每个空气通道都配备了充气和放气功能，可实现从正到负的广泛压力供应，最大流量为1.7 L/min。该系统采用高精度闭环压力控制，确保驱动过程中稳定高效的动态性能。此外，还提供了开源控制接口和基于Python的API。OpenPneu的功能通过其在三种不同的软机器人系统中的应用得到了证明，涉及多达10个腔室。
This paper introduces OpenPneu, a compact system designed to facilitate pneumatic actuation for multi-chamber soft robots. In this system, micro-pumps are utilized to generate airflow, eliminating the need for additional compressed air input. OpenPneu is characterized by its modular design, allowing for excellent scalability, as evidenced by a ten-channel prototype. Each air channel in OpenPneu is equipped with both inflation and deflation capabilities, enabling a wide range of pressure supply from positive to negative, with a maximum flow rate of 1.7 L/min. The system incorporates high-precision closed-loop pressure control, ensuring stable and efficient dynamic performance during actuation. Additionally, an open-source control interface and Python-based API are provided. The functionality of OpenPneu is demonstrated through its application in three different soft robotic systems, involving up to 10 chambers.