A Model-Based Cascaded Control Concept for the Bionic Motion Robot

Raisch, Adrian; Mayer, Annika; Müller, Daniel; Hildebrandt, A.; Sawodny, Oliver

doi:10.23919/acc45564.2020.9147604

Cited by 4 publications

(2 citation statements)

References 15 publications

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“…The current issue and full text archive of this journal is available on Emerald Insight at: https://www.emerald.com/insight/1355-2546.htm actuators to actuate manipulators of continuum (Grzesiak et al, 2011;Raisch et al, 2020), articulated (Gaiser et al, 2012) and mixed (Festo SE & Co. KG, 2019) kinematic types. However, use of bellows actuators typically limits the range of motion and results in angular dependency of torque.…”

Section: Introductionmentioning

confidence: 99%

“…In this context, double-acting pneumatic actuators have been discussed because, unlike electromechanical approaches (Grebenstein et al , 2011), they inherently offer adjustable compliance (Baiden and Ivlev, 2014; Vanderborght et al , 2013; Veale and Xie, 2016) without an increase in mechanical complexity. Researchers have used pneumatic bellows actuators to actuate manipulators of continuum (Grzesiak et al , 2011; Raisch et al , 2020), articulated (Gaiser et al , 2012) and mixed (Festo SE & Co. KG, 2019) kinematic types. However, use of bellows actuators typically limits the range of motion and results in angular dependency of torque.…”

Section: Introductionmentioning

confidence: 99%

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Design, additive manufacturing and component testing of pneumatic rotary vane actuators for lightweight robots

Dämmer

Bauer

Neumann

et al. 2022

RPJ

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Purpose This study aims to investigate the suitability of a multi-step prototyping strategy for producing pneumatic rotary vane actuators (RVAs) for the development of lightweight robots and actuation systems. Design/methodology/approach RVAs typically have cast aluminum housings and injection-molded seals that consist of hard thermoplastic cores and soft elastomeric overmolds. Using a combination of additive manufacturing (AM), computer numerical control (CNC) machining and elastomer molding, a conventionally manufactured standard RVA was replicated. The standard housing design was modified, and polymeric replicas were obtained by selective laser sintering (SLS) or PolyJet (PJ) printing and subsequent CNC milling. Using laser-sintered molds, actuator seals were replicated by overmolding laser-sintered polyamide cores with silicone (SIL) and polyurethane (PU) elastomers. The replica RVAs were subjected to a series of leakage, friction and durability experiments. Findings The AM-based prototyping strategy described is suitable for producing functional and reliable RVAs for research and product development. In a representative durability experiment, the RVAs in this study endured between 40,000 and 1,000,000 load cycles. Frictional torques were around 0.5 Nm, which is 10% of the theoretical torque at 6 bar and comparable to that of the standard RVA. Models and parameters are provided for describing the velocity-dependent frictional torque. Leakage experiments at 10,000 load cycles and 6 bar differential pressure showed that PJ housings exhibit lower leakage values (6.8 L/min) than laser-sintered housings (15.2 L/min), and PU seals exhibit lower values (8.0 l/min) than SIL seals (14.0 L/min). Combining PU seals with PJ housings led to an initial leakage of 0.4 L/min, which increased to only 1.2 L/min after 10,000 load cycles. Overall, the PU material used was more difficult to process but also more abrasion- and tear-resistant than the SIL elastomer. Research limitations/implications More work is needed to understand individual cause–effect relationships between specific design features and system behavior. Originality/value To date, pneumatic RVAs have been manufactured by large-scale production technologies. The absence of suitable prototyping strategies has limited the available range to fixed sizes and has thus complicated the use of RVAs in research and product development. This paper proves that functional pneumatic RVAs can be produced by using more accessible manufacturing technologies and provides the tools for prototyping of application-specific RVAs.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design, additive manufacturing and component testing of pneumatic rotary vane actuators for lightweight robots

Dämmer

Bauer

Neumann

et al. 2022

RPJ

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Comparison of Cascaded and Flatness-Based Control of a Pneumatically-Driven Rotary Joint

Hoffmann

Trapp²,

Hildebrandt³

et al. 2022

2022 IEEE Conference on Control Technology and Applications (CCTA)

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On trajectory tracking control of fluid-driven actuators

Hoffmann

Müller

Simon

et al. 2021

At - Automatisierungstechnik

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Fluid-driven actuators are not only well-established in automation, but also a promising drive technology for collaborative robots. Their inherent compliance due to the compressibility of suitable fluids such as air, as well as their direct drive properties are advantageous safety features for human-machine collaboration. In this work, we provide an overview of different fluid-driven manipulators, namely fluidic muscle actuated ones, continuum manipulators, and those with rotary joints. For the latter, we introduce the mathematical model including mechanics and pressure dynamics and describe its properties such as strong nonlinearities, which make trajectory tracking control challenging. A model-based nonlinear cascaded controller is presented. Experimental results on a 6 degrees of freedom (DOF) prototype demonstrate the resulting trajectory tracking performance.

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A Model-Based Cascaded Control Concept for the Bionic Motion Robot

Cited by 4 publications

References 15 publications

Design, additive manufacturing and component testing of pneumatic rotary vane actuators for lightweight robots

Design, additive manufacturing and component testing of pneumatic rotary vane actuators for lightweight robots

Comparison of Cascaded and Flatness-Based Control of a Pneumatically-Driven Rotary Joint

On trajectory tracking control of fluid-driven actuators

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