Pneumatic Supply System Parameter Optimization for Soft Actuators
Pneumatic Supply System Parameter Optimization for Soft Actuators
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DOI：
10.1089/soro.2019.0134
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发表时间：
2020-06-29
期刊：
影响因子：
7.9
通讯作者：
Paik, Jamie
中科院分区：
文献类型：
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作者：
Joshi, Sagar;Paik, Jamie
使用压缩空气的软致动器由于其固有的顺应性、一致性和可定制性而被广泛使用。这些致动器由气动供应系统（PSS）提供动力和控制，该系统由压缩机、阀门、管道和储液器等组件组成。无论选择的致动器，PSS严重影响软机器人的整体性能，因为它支配软致动器的压力动态，从而，一般的动态行为。在选择和控制PSS组件以满足所需的软致动器性能时，还必须考虑PSS质量、体积和操作持续时间等规格。目前，有没有全面的研究PSS优化，以满足动态性能和PSS规格，由于有限的理解，软执行器的压力动态，大的解决方案空间的PSS，和可变性的软执行器。通过考虑PSS和软执行器的关键参数，我们介绍和演示PSS参数优化。我们提出了软致动器压力动态的标准化模型，并量化了PSS参数、软致动器设计参数以及上升时间、下降时间和致动频率的动态性能指标之间的关系。经过实验验证，我们应用这些结果，并最佳地选择和控制PSS组件，以满足所需的软驱动器性能的软机器护甲，同时最大限度地减少所选组件的质量。用该样机测得的压力响应与模拟结果吻合良好，具有均方根误差
Soft actuators using pressurized air are being widely used due to their inherent compliance, conformability, and customizability. These actuators are powered and controlled by pneumatic supply systems (PSSs) consisting of components such as compressors, valves, tubing, and reservoirs. Regardless of the choice of actuator, the PSS critically affects overall performance of soft robots because it governs the soft actuator pressure dynamics, and thereby, the general dynamic behavior. While selecting and controlling PSS components for meeting desired soft actuator performance, specifications such as PSS mass, volume, and duration of operation must also be considered. Currently, there is no comprehensive study on PSS optimization for meeting dynamic performance and PSS specifications, due to limited understanding of soft actuator pressure dynamics, large solution space for PSSs, and variability in soft actuators. By considering critical parameters of PSS and soft actuators, we introduce and demonstrate PSS parameter optimization. We propose a normalized model for soft actuator pressure dynamics and quantify the relationship between PSS parameters, soft actuator design parameters, and dynamic performance metrics of rise time, fall time, and actuation frequency. After experimental validation, we applied these results and optimally select and control PSS components to meet desired soft actuator performance for a soft exosuit, while minimizing mass of selected components. The measured pressure response with this prototype agrees well with simulations, with root mean square errors