A Magnetorheological Elastomer‐Based Proportional Valve for Soft Pneumatic Actuators
A Magnetorheological Elastomer‐Based Proportional Valve for Soft Pneumatic Actuators
复制标题
用于软气动执行器的基于磁流变弹性体的比例阀
DOI：
10.1002/aisy.202200238
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发表时间：
2022
影响因子：
7.4
通讯作者：
Maiolino Perla
中科院分区：
文献类型：
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作者：
Wang Sihan;He Liang;Albini Alessandro;Zhang Peizhi;Maiolino Perla
由于柔性气动执行器与材料柔软性的接触适应性，使得柔性气动执行器在机器人领域受到越来越多的关注。然而，这些执行器大多由刚性电子气动阀门控制，很难集成到机器人本身，限制了其机动性和适应性。软或无电子阀门设计的最新进展为实现减轻重量和刚性的集成软机器人系统提供了可能性。尽管如此，阀门响应方面的挑战仍然悬而未决。为了实现软气动执行器(SPA)的动态控制，需要一个快速响应的比例阀。在这里，探索了基于Ecoflex的磁流变弹性体(MRE)膜制造比例阀的潜力，该比例阀可以用于由相同硅材料制成的软机器人的控制。实验表明，所设计的磁流变阀(30 mm × 30 mm × 15 mm，30 克)可以承受高达41.3kPa的压力，并以模拟方式调节气流。该阀用于对SPA进行频率为50 的比例-积分-微分(PID)闭环控制，能够控制执行器腔内的压力，均方根误差为0.05 kPa.
The interest in soft pneumatic actuators has been growing rapidly in robotics, owing to the contact adaptability with the material softness. However, these actuators are mostly controlled by rigid electronic pneumatic valves, which can hardly be integrated into the robot itself, limiting its mobility and adaptability. Recent advances in soft or electronics‐free valve designs provide the potential to achieve an integrated soft robotic system with reduced weight and rigidity. Nevertheless, the challenge in valve response remains open. To enable dynamic control of a soft pneumatic actuator (SPA), a fast‐response proportional valve is needed. Herein, the potential of Ecoflex‐based magnetorheological elastomer (MRE) membrane to create a proportional valve that can be used in the control of a soft robot made from the same silicone material is explored. Experimental characterization shows that the proposed MRE valve (30 mm × 30 mm × 15 mm, 30 grams) can hold pressure up to 41.3 kPa and regulate the airflow in an analog manner. The valve is used to perform closed‐loop proportional–integral–differential (PID) control with 50 Hz on a SPA and is able to control the pressure within the actuator chamber with a root‐mean‐square error of 0.05 kPa.
影响因子：
13.6
作者：
Hubbard JD;Acevedo R;Edwards KM;Alsharhan AT;Wen Z;Landry J;Wang K;Schaffer S;Sochol RD
通讯作者：
Sochol RD