Novel Design and Position Control Strategy of a Soft Robot Arm
Abstract
:1. Introduction
2. The Structure of the Pneumatic Muscle Actuator
2.1. The Parallel Structure of Pneumatic Muscle Actuators
2.2. The Actuated Force for the Contraction and the Extension PMA
3. Design and Construction of the Soft Arm
- The ability for length increment.
- The ability to bend in all directions.
- The arm force is big enough to pick up different objects.
The Bending and Displacement Test of the Soft Arm
4. The Modified Design of the Proposed Arm
5. Controlling the Presented Soft Arm
5.1. Cascaded Position Control
5.2. Closed-Loop Position Control of the Modified Multi-Function Soft Arm
- Actuator 1 covers y values at domain-1 and defines as Y1.
- Actuator 3 covers y values at domain-2 and defines as Y2.
- If the desired position point locates under Y1; the PMA2 and PMA4 define as:
- Actuator 2 covers x-values at domain-1A and defines as X1A.
- Actuator 4 covers x-values at domain-1B and defines as X1B.
- If the desired position point locates under Y2; the PMA2 and PMA4 define as:
- Actuator 2 covers x-values at domain-2A and defines as X2A.
- Actuator 4 covers x-values at domain-2B and defines as X2B.
- If the desired position point locates under Y1, bending-actuator3 and bending-actuator4 pressurise simultaneously.
- If the desired position point locates under Y2, bending-actuator1 and bending-actuator2 pressurise simultaneously.
6. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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Load (kg) | Bending Angle (Degree) for Extensor Arm | Bending Angle (Degree) for Contractor Arm |
---|---|---|
0.0 | 164.83 | 84.33 |
0.1 | 163 | 84.0 |
0.2 | 155 | 75.5 |
0.3 | 135.2 | 66.0 |
0.4 | 126.1 | 57.0 |
0.5 | 116.2 | 47.0 |
Load (g) | PMA1 | PMA2 | PMA8 & PMA9 |
---|---|---|---|
0 | 140 | 70 | 320 |
300 | 310 | 130 | 450 |
500 | 500 | 176 | 500 |
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Al-Ibadi, A.; Nefti-Meziani, S.; Davis, S.; Theodoridis, T. Novel Design and Position Control Strategy of a Soft Robot Arm. Robotics 2018, 7, 72. https://doi.org/10.3390/robotics7040072
Al-Ibadi A, Nefti-Meziani S, Davis S, Theodoridis T. Novel Design and Position Control Strategy of a Soft Robot Arm. Robotics. 2018; 7(4):72. https://doi.org/10.3390/robotics7040072
Chicago/Turabian StyleAl-Ibadi, Alaa, Samia Nefti-Meziani, Steve Davis, and Theo Theodoridis. 2018. "Novel Design and Position Control Strategy of a Soft Robot Arm" Robotics 7, no. 4: 72. https://doi.org/10.3390/robotics7040072