Control of a dynamic load emulator for hardware-in-the-loop testing of fluidic artificial muscle bundles
Control of a dynamic load emulator for hardware-in-the-loop testing of fluidic artificial muscle bundles
复制标题
用于流体人工肌束硬件在环测试的动态负载模拟器的控制
DOI：
10.1117/12.2612920
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Bryant, Matthew J.
中科院分区：
文献类型：
--
作者：
Mazzoleni, Nicholas;Kim, Jeong Yong;Bryant, Matthew J.
流体人造肌肉（fam）由于其低成本、柔顺性和高力重比而成为一种可行且流行的机器人驱动技术。近年来，作为提高传统液压机器人系统效率的一种方法，变量招募的概念应运而生。在可变招募中，多组fam被捆绑在一起并分成单独的运动单元。每个运动单元可以独立激活，这类似于在哺乳动物肌肉中观察到的顺序激活模式。以前的研究人员已经用一个简单的1- DOF机械臂进行了可变招募束的准静态表征和一些简单的动态分析和实验。我们已经开发了一个线性水力特性测试平台，可以在不同的负载条件下测试不同类型的可变招募束配置。该平台由一个液压驱动缸组成，作为一个网络物理硬件在环动态加载模拟器，并与可变招募包接口。仿真器所需的惯性、阻尼和刚度特性可以通过导纳控制器来规定和实现。在本文中，我们在仿真中测试了该导纳控制器模拟不同惯性、刚度和阻尼特性的能力，并通过概念验证实验证明了它可以用于硬件。这项工作的主要目标是开发一个独特的测试设置，允许测试不同的FAM配置、控制器或子系统及其对不同动态负载的响应，然后再将其应用于更复杂的机器人系统。
Fluidic artificial muscles (FAMs) have emerged as a viable and popular robotic actuation technique due to their low cost, compliant nature, and high force-to-weight-ratio. In recent years, the concept of variable recruitment has emerged as a way to improve the efficiency of conventional hydraulic robotic systems. In variable recruitment, groups of FAMs are bundled together and divided into individual motor units. Each motor unit can be activated independently, which is similar to the sequential activation pattern observed in mammalian muscle. Previous researchers have performed quasistatic characterizations of variable recruitment bundles and some simple dynamic analyses and experiments with a simple 1- DOF robot arm. We have developed a linear hydraulic characterization testing platform that will allow for the testing of different types of variable recruitment bundle configurations under different loading conditions. The platform consists of a hydraulic drive cylinder that acts as a cyber-physical hardware-in-the-loop dynamic loading emulator and interfaces with the variable recruitment bundle. The desired inertial, damping and stiffness properties of the emulator can be prescribed and achieved through an admittance controller. In this paper, we test the ability of this admittance controller to emulate different inertial, stiffness, and damping properties in simulation and demonstrate that it can be used in hardware through a proof-of-concept experiment. The primary goal of this work is to develop a unique testing setup that will allow for the testing of different FAM configurations, controllers, or subsystems and their responses to different dynamic loads before they are implemented on more complex robotic systems.
可变募集液压人造肌肉的线性测功机测试
影响因子：
2.7
作者：
Jordan B. Chipka;M. Meller;A. Volkov;M. Bryant;Ephrahim Garcia
通讯作者：
Ephrahim Garcia
用于运动控制的液压缸全阶和降阶模型
DOI：
--
发表时间：
2017
期刊：
Annual Conference of the IEEE Industrial Electronics Society
影响因子：
--
作者：
M. Ruderman
通讯作者：
M. Ruderman
通过可变募集液压 McKibben 肌肉提高驱动效率：建模、有序募集控制和实验
影响因子：
3.4
作者：
M. Meller;Jordan B. Chipka;A. Volkov;M. Bryant;Ephrahim Garcia
通讯作者：
Ephrahim Garcia