Initial Design and Experimental Evaluation of a Pneumatic Interference Actuator
Initial Design and Experimental Evaluation of a Pneumatic Interference Actuator
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DOI：
10.1089/soro.2017.0004
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发表时间：
2018-03-02
期刊：
影响因子：
7.9
通讯作者：
Rouse, Elliott J.
中科院分区：
文献类型：
--
作者：
Nesler, Christopher R.;Swift, Tim A.;Rouse, Elliott J.
大量的设备质量和控制复杂性可能会阻碍可穿戴机器人技术（如外骨骼）的影响。因此，尽管有前途的先前的研究，开发一个简单的，重量轻的致动器，这些系统尚未完全实现。本研究的目的是推导并证明气动干扰致动器（PIA）的概念验证，该致动器重量轻，柔软，能够通过物理几何形状变化引起的织物气球的自相交产生扭矩。一般的封闭形式的方程推导出预期的致动器扭矩和机械功的球囊几何形状，压力和偏转角的函数表示。硬和软圆柱形的物理原型，以评估的数学模型的准确性。所提出的数学模型被认为是同意的压力-体积关系，并成功地预测最大扭矩的几何形状，压力和偏转在非零偏转角的函数。从硬致动器原型中观察到峰值功率高达122.1 +/- 10.0 W（平均值+/-标准差），静息内压为158.0 +/- 0.2kPa。对于软致动器原型，在166.8kPa的静止压力下观察到97.9 +/-21.1W的峰值功率。在所有试验中，所做的功在理论值的3.2%+/- 3.4%和14.4%+/- 8.2%范围内，与扭矩-角度关系相比，在理论值的19.1%+/- 4.4%范围内。这项研究强调了利用PIA的自相交来执行人类规模的机械工作的前景，未来的研究将集中在可穿戴机器人系统的实现上。
Substantial device mass and control complexity can hinder the impact of wearable robotic technologies, such as exoskeletons. Thus, despite promising previous research, the development of a simple, lightweight actuator for these systems has not yet been fully realized. The purpose of this study was to derive and demonstrate a proof-of-concept for a pneumatic interference actuator (PIA)a lightweight, soft actuator able to produce torque by the self-intersection of a fabric balloon that arises from changes in physical geometry. General closed-form equations are derived to express the expected actuator torque and mechanical work as functions of the balloon geometry, pressure, and deflection angle. Hard and soft cylindrical physical prototypes were constructed to assess the accuracy of the mathematical models. The proposed mathematical model was found to agree with the pressure-volume relationship and successfully predict the maximum torque as a function of geometry, pressure, and deflection at nonzero deflection angles. Peak powers up to 122.1 +/- 10.0 W (mean +/- standard deviation), with a resting internal pressure of 158.0 +/- 0.2kPa, were observed from the hard actuator prototype. For the soft actuator prototype, peak powers of 97.9 +/- 21.1 W were observed at a resting pressure of 166.8kPa. The work performed was within 3.2%+/- 3.4% and 14.4%+/- 8.2% of theoretical values across all trials, and within 19.1%+/- 4.4% of theoretical values when compared to the torque-angle relationship. This study highlights the promise of utilizing the self-intersection of a PIA to perform human-scale mechanical work, and future research will focus on implementations for wearable robotic systems.