热插拔逻辑启用阀门

IF 6.1 Q1 AUTOMATION & CONTROL SYSTEMS
Jing Xu, Seung Hee Jeong, Klas Hjort
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引用次数: 0

摘要

软气动机器人正在成为可穿戴机器人领域的一股变革力量,特别是因为它们能够使用轻质、柔软和柔顺的材料提供高强度的动觉触觉。尽管取得了这些进步,但这些系统的小型化和复杂的大型执行器的集成带来了重大挑战。因此,本研究提出了一种新型的热插拔逻辑夹管阀,在不破坏现有气动系统的情况下,促进阀门的无缝集成。阀门的设计包括一个框架,配有两个气动执行器(pa)的插槽。位于这两个执行器之间的第三个槽可以为夹在执行器之间的弹性油管提供热堵功能。这种配置允许在较低的控制压力下控制较高的操作压力,实现高达8的增益和1hz的最大工作频率。此外,通过使用两个PAs和调节控制压力,该阀可以执行一系列逻辑功能,包括非、非和非,而无需修改其气动连接。该阀的NAND功能被成功展示,因为它将一个不安全的夹具转变为一个安全的夹具,展示了它在增强软气动机器人系统功能方面的实际意义。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Hot-Plugging Logic-Enabled Valves

Hot-Plugging Logic-Enabled Valves

Hot-Plugging Logic-Enabled Valves

Hot-Plugging Logic-Enabled Valves

Soft pneumatic robotics are emerging as a transformative force in the field of wearable robotics, especially for their ability to deliver high-force kinesthetic haptics using lightweight, soft, and compliant materials. Despite these advancements, the miniaturization of these systems and the integration of complex, large-scale actuators pose significant challenges. Therefore, this research proposes a novel hot-plugging logic-enabled pinch valve to facilitate seamless valve integration without disrupting the existing pneumatic system. The valve design incorporates a frame equipped with slots for two pneumatic actuators (PAs). A third slot positioned between these two actuators enables hot-plugging capabilities for the operational elastic tubing pinched between the actuators. This configuration allows the control of higher operational pressures while operating at lower control pressures, achieving an impressive gain of up to eight and a maximum operational frequency of 1 Hz. Furthermore, by utilizing two PAs and adjusting the control pressure, the valve can execute a range of logical functions, including NOT, NAND, and NOR, without modifying its pneumatic connections. The NAND function of the valve is successfully demonstrated as it transforms an unsecured gripper into a secured one, showcasing its practical implications for enhancing functionality in soft pneumatic robotic systems.

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来源期刊
CiteScore
1.30
自引率
0.00%
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审稿时长
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