Abstract
In this paper, we studied pneumatic networks (PneuNets) platform fabrication and evaluated the effect of variations in design parameters and inextensible layer materials on the bending angle of PneuNets. We also developed a pneumatically driven soft robot that required pressurized gas to move according to its function. A programmable pneumatic pump circuit comprising a direct current (DC) air pump and valves connected with tubes was used to actuate the platform and control the internal pressure. Two control methods were tested: a straightforward on-off control and a proportional-integral (PI) control based on a linear model derived from system identification. Comparisons for input tracking performance were made, with on-off control providing a better error performance than PI control, producing an oscillation of 2 kPa along the reference input. The results of parameter variations of PneuNets designs conclude the strategies to obtain a larger bending angle: thinner inner chamber walls, lengthened size of the PneuNets, increased number of chambers, and a smaller grammage and thickness of the inextensible layer.
Original language | English |
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Pages (from-to) | 19382-19389 |
Number of pages | 8 |
Journal | IEEE Sensors Journal |
Volume | 23 |
Issue number | 17 |
Early online date | 25 Jul 2023 |
DOIs | |
Publication status | Published - 01 Sept 2023 |
Bibliographical note
Publisher Copyright:© 2001-2012 IEEE.
Keywords
- Extensible layer
- inextensible layer
- pneumatic pump
- pressure control
- soft robotics
ASJC Scopus subject areas
- Instrumentation
- Electrical and Electronic Engineering