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Development and control of smart pneumatic mckibben muscles for soft robots 柔性机器人智能气动肌肉的研制与控制
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.119
Min Pan, Zhe Hao, Chenggang Yuan, A. Plummer
{"title":"Development and control of smart pneumatic mckibben muscles for soft robots","authors":"Min Pan, Zhe Hao, Chenggang Yuan, A. Plummer","doi":"10.25368/2020.119","DOIUrl":"https://doi.org/10.25368/2020.119","url":null,"abstract":"Animals exploit soft structures to move smoothly and effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft actuating technologies into their designs. Developing soft muscle-like actuation technology is one of the grand challenges in the creation of soft-body robots that can move, deform their body, and modulate body stiffness. This paper presents the development of smart pneumatic McKibben muscles woven and reinforced by using conductive insulated wires to equip the muscles with an inherent sensing capability, in which the deformation of the muscles can be effectively measured by calculating the change of wire inductance. Sensing performance of a variety of weaving angles is investigated. The ideal McKibben muscle models are used for analysing muscle performance and sensing accuracy. The experimental results show that the contraction of the muscles is proportional to the measured change of inductance. This relationship is applied to a PID control system to control the contraction of smart muscles in simulation, and good control performance is achieved. The creation of smart muscles with an inherent sensing capability and a good controllability is promising for operation of future soft robots.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127962881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Combinations of energy saving measures in pneumatics 气动中节能措施的组合
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.92
V. Boyko, J. Weber
{"title":"Combinations of energy saving measures in pneumatics","authors":"V. Boyko, J. Weber","doi":"10.25368/2020.92","DOIUrl":"https://doi.org/10.25368/2020.92","url":null,"abstract":"Within a production machine, various electromechanical and pneumatic structures can be used for drive tasks. As these drive technologies can often replace each other, the energy efficiency, performance and TCO of pneumatic drives must be permanently enhanced to remain competitive. There is a large number of known measures for the reducing their energy consumption, e.g. minimizing of filling volumes, energy saving circuits etc. However, these measures are mainly considered separately and the possible overall energy saving effect resulting from their combination is rarely taken into account. The main goal of this paper is therefore to explore the possible combinations of pneumatic energy saving measures and their cumulative saving effect. Due to the fact that some measures are mutually exclusive (e.g. a general pressure reduction in properly sized drive), each combination should be considered separately. To evaluate their efficiency plausibly, a comprehensive assessment is required that contains both the total cost of ownership analysis (TCO) and a mechanical properties assessment. The presented comprehensive approach of the task analysis can serve as example of how an optimal drive configuration for the specific task can be found, thus creating a basis for solving constructive challenges in designing of pneumatic automation systems.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127157042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Assistance system for an automated log-quality and assortment estimation based on data-driven approaches using hydraulic signals of forestry machines 基于数据驱动方法的林业机械液压信号自动原木质量和分类估计辅助系统
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.97
C. Geiger, Niklas Maier, Florian Kalinke, M. Geimer
{"title":"Assistance system for an automated log-quality and assortment estimation based on data-driven approaches using hydraulic signals of forestry machines","authors":"C. Geiger, Niklas Maier, Florian Kalinke, M. Geimer","doi":"10.25368/2020.97","DOIUrl":"https://doi.org/10.25368/2020.97","url":null,"abstract":"The correct classification of a logs assortment is crucial for the economic output within a fully mechanized timber harvest. This task is especially for unexperienced but also for professional machine operators mentally demanding. This paper presents a method towards an assistance system for machine operators for an automated log quality and assortment estimation. Therefore, machine vision methods for object detection are combined with machine learning approaches for estimating the logs weight based on a Convolutional Neural Network (CNN). categorisation into a specific assortment is done. By comparing the theoretical weight of a healthy log of such dimensions to the real weight estimated by the CNN-based crane scale, quality reducing properties such as beetle infestation or red rod can be detected. In such cases, the assistance system displays a visual warning to the operator to check the loaded log.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124517748","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Self-Sensing position determination on a sensor-designed proportional solenoid 传感器设计的比例螺线管自传感位置确定
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.115
T. Kramer, J. Weber
{"title":"Self-Sensing position determination on a sensor-designed proportional solenoid","authors":"T. Kramer, J. Weber","doi":"10.25368/2020.115","DOIUrl":"https://doi.org/10.25368/2020.115","url":null,"abstract":"Proportional valves are widely used in fluid systems for controlling the volume flow rate or fluid pressure. The actuation of this valves is done by PWM-driven proportional solenoids, which enable self-sensing position determination abilities due to air gap-dependent electrical behaviour, e. g. for condition monitoring or position controlling tasks. However, the sensor properties of conventional proportional solenoids are poor due to ambiguities caused by hysteresis effects (magnetic hysteresis, eddy currents) and saturation effects. Thus, a sensor-designed actuator was developed with very low hysteresis effects and unique position determination by using electrical sheet and a particular air gap design. This paper deals with investigations of a novel self-sensing position determination approach on a demonstrator of the sensor-designed solenoid. The advantage of this method is an online consideration of transient effects such as mean current change and armature motion as well as temperature-dependent resistance. For this, a combined evaluation of the differential inductance and flux linkage during PWM periods is proposed.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131730349","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Simulation-based system reliability analysis of electrohydraulic actuator with dual modular redundancy 基于仿真的双模块冗余电液执行器系统可靠性分析
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.122
M. Andreev, A. Kolesnikov, Uwe Grätz, J. Gundermann
{"title":"Simulation-based system reliability analysis of electrohydraulic actuator with dual modular redundancy","authors":"M. Andreev, A. Kolesnikov, Uwe Grätz, J. Gundermann","doi":"10.25368/2020.122","DOIUrl":"https://doi.org/10.25368/2020.122","url":null,"abstract":"This paper describes the failure detection system of an electro-hydraulic actuator with dual modular redundancy based on a concept. is a combination of virtual twin that operates in parallel with the actuator and represents its ideal behaviour, and a digital twin that identifies possible failures using the sensor readings residuals. Simulation-based system reliability analysis helps to generate a dataset for training the digital twin using machine learning algorithms. A systematic failure detection approach based on decision trees and the process of analysing the quality of the result is described.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133934752","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Efficiency that borders on the impossible electrohydraulic drives 效率接近于不可能的电液驱动
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.110
Walter E. List
{"title":"Efficiency that borders on the impossible electrohydraulic drives","authors":"Walter E. List","doi":"10.25368/2020.110","DOIUrl":"https://doi.org/10.25368/2020.110","url":null,"abstract":"Hydraulic displacement systems are a technology that has been known for many years. Nevertheless, the impression is created that the large fields of application are not only being developed very tentatively, but in many cases are being completely denied. What might be the reason for this? Are the electromechanical solutions better? What is the missing element to build the bridge from the available hydraulic-mechatronic technology to broad customer application? This paper provides an overview of how the targeted use of the latest technologies in the product and in the entire value-added chain has resulted in a complete mechatronic hydraulic system that pushes the limits of feasibility in terms of power, accuracy and efficiency and delivers a clearly calculable benefit for both the plant manufacturer and the end customer. In addition to the great accuracy and high reliability, there are also considerable savings in the total cost of ownership (TCO) due to a previously unattained level of efficiency. The thoughts of health and environmental protection are just as much a part of the considerations as product safety and personal protection. Finally, an outlook on possible expansions is given, and which areas of application are possible for the technologies developed within the project. The aim is not to show how the traditional fields of application of hydraulics are to be defended, but rather to use the strengths of a hydraulic-mechatronic approach in a conscious and clearly structured way to make new applications possible.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132740756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Hydropneumatic all-wheel suspensions: applications, challenges and special solutions 液压气动全轮悬架:应用、挑战和特殊解决方案
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.102
W. Bauer
{"title":"Hydropneumatic all-wheel suspensions: applications, challenges and special solutions","authors":"W. Bauer","doi":"10.25368/2020.102","DOIUrl":"https://doi.org/10.25368/2020.102","url":null,"abstract":"All-wheel suspensions are generally challenging, particularly if they are equipped with an automatic level control. In mobile machines, the special application conditions make their use even more demanding regarding layout and control. A high center of gravity, load variations, off-road-conditions etc. require special measures to reduce roll and pitch movements. Additionally the uneven ground along with the mechanical suspension setup often create a need to measure and optimize tyre-to-ground forces in order to provide best traction and suspension properties. Hydropneumatic suspensions have all the potential to meet all these requirements and provide a comfortable, safe and efficient suspension setup.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114486472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Fluid dynamic vibration absorber for cabin suspension 客舱悬架流体动力减振器
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.103
Nicolas Brötz, M. Rexer, P. Pelz
{"title":"Fluid dynamic vibration absorber for cabin suspension","authors":"Nicolas Brötz, M. Rexer, P. Pelz","doi":"10.25368/2020.103","DOIUrl":"https://doi.org/10.25368/2020.103","url":null,"abstract":"Truck drivers spend all day moving goods. They are exposed to vibrations every time they drive. Modern cabin suspension and an air-suspended seat already offer a high level of comfort. This, however, is designed for vertical dynamics and you can observe the cab of a truck performs large pitching vibrations during acceleration. These are examined here. A pitch model of the cabin is set up for this purpose. On the basis of this model it is examined which reduction of the vibration can be achieved by the use of a hydraulically translated vibration absorber. The advantage of this absorber is the use of the hydraulic transmission to reduce the heavy mass at high absorber inertia. 4 kg of fluid mass act as 131 kg absorber mass reducing vibrations by more than 10%. The conventional vibration absorber is inacceptable due to the additional load. The investigation based on VDI 2057 Part 1 shows that driving comfort can be increased.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121571653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Preliminary design and testing of a servo-hydraulic actuation system for an autonomous ankle exoskeleton 自主踝关节外骨骼伺服液压驱动系统的初步设计与测试
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.105
E. Viennet, Boulevard de Pérolles Fribourg Arts Western Switzerland, Loïc Bouchardy
{"title":"Preliminary design and testing of a servo-hydraulic actuation system for an autonomous ankle exoskeleton","authors":"E. Viennet, Boulevard de Pérolles Fribourg Arts Western Switzerland, Loïc Bouchardy","doi":"10.25368/2020.105","DOIUrl":"https://doi.org/10.25368/2020.105","url":null,"abstract":"The work presented in this paper aims at developing a hydraulic actuation system for an ankle exoskeleton that is able to deliver a peak power of 250 W, with a maximum torque of 90 N.m and maximum speed of 320 deg/s. After justifying the choice of a servo hydraulic actuator (SHA) over an electro hydrostatic actuator (EHA) for the targeted application, some test results of a first functional prototype are presented. The closed-loop unloaded displacement frequency response of the prototype shows a bandwidth ranging from 5 Hz to 8 Hz for displacement amplitudes between +/-5mm and +/-20mm, thus demonstrating adequate dynamic performance for normal walking speed. Then, a detailed design is proposed as a combination of commercially available components (in particular a miniature servo valve and a membrane accumulator) and a custom aluminium manifold that incorporates the hydraulic cylinder. The actuator design achieves a total weight of 1.0 kg worn at the ankle.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117284863","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Electro-hydraulic SWOT-analysis on electro-hydraulic drives in construction machinery 工程机械电液传动的swot分析
Volume 3 - Conference Pub Date : 2020-06-26 DOI: 10.25368/2020.111
M. Inderelst, D. Prust, M. Siegmund
{"title":"Electro-hydraulic SWOT-analysis on electro-hydraulic drives in construction machinery","authors":"M. Inderelst, D. Prust, M. Siegmund","doi":"10.25368/2020.111","DOIUrl":"https://doi.org/10.25368/2020.111","url":null,"abstract":"This paper discusses the potential of centralized or decentralized electro-hydraulic (EH)-drives in comparison to conventional hydraulic systems. The systems are presented in diagrams covering the major electric and hydraulic components for an exemplary application, but also include specific technical data like the sizing of the components according to power, pressure, rotational speeds etc. In a second step, all systems are compared and evaluated based on criteria like design effort, energy saving potential, controllability, and servicing and maintenance of the machine. The resulting effects on fuel consumption are summarized as well. Finally, an evaluation of the potential of EH-drives in construction machinery and a derivation of the demands for future customization of electro-hydraulic linear drives is given on the basis of a SWOT-analysis from the point of view of a construction machinery OEM.","PeriodicalId":254837,"journal":{"name":"Volume 3 - Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129135357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
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