Active Acoustic Contact Sensing for Soft Pneumatic Actuators

Author(s):  
Gabriel Zoller ◽  
Vincent Wall ◽  
Oliver Brock
Author(s):  
S. P. Bersenev ◽  
E. M. Slobtsova

Achievements in the area of automated ultrasonic control of quality of rails, solid-rolled wheels and tyres, wheels magnetic powder crack detection, carried out at JSC EVRAZ NTMK. The 100% nondestructive control is accomplished by automated control in series at two ultrasonic facilities RWI-01 and four facilities УМКК-1 of magnetic powder control, installed into the exit control line in the wheel-tyre shop. Diagram of location, converters displacement and control operations in the process of control at the facility RWI-01 presented, as well as the structural diagram of the facility УМКК-1. The automated ultrasonic control of rough tyres is made in the tyres control line of the wheel-tyre shop at the facility УКБ-1Д. The facility enables to control internal defects of tyres in radial, axis and circular directions of radiation. Possibilities of the facility УКБ-1Д software were shown. Nondestructive control of railway rails is made at two facilities, comprising the automated control line of the rail and structural shop. The УКР-64Э facility of automated ultrasonic rails control is intended to reveal defects in the area of head, web and middle part of rail foot by pulse echo-method with a immersion acoustic contact. The diagram of rail P65 at the facility УКР-64Э control presented. To reveal defects of the macrostructure in the area of rail head and web by mirror-shadow method, an ultrasonic noncontact electromagnetic-acoustic facility is used. It was noted, that implementation of the 100% nondestructive control into the technology of rolled stuff production enabled to increase the quality of products supplied to customers and to increase their competiveness.


Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2163
Author(s):  
Dongjin Kim ◽  
Seungyong Han ◽  
Taewi Kim ◽  
Changhwan Kim ◽  
Doohoe Lee ◽  
...  

As the safety of a human body is the main priority while interacting with robots, the field of tactile sensors has expanded for acquiring tactile information and ensuring safe human–robot interaction (HRI). Existing lightweight and thin tactile sensors exhibit high performance in detecting their surroundings. However, unexpected collisions caused by malfunctions or sudden external collisions can still cause injuries to rigid robots with thin tactile sensors. In this study, we present a sensitive balloon sensor for contact sensing and alleviating physical collisions over a large area of rigid robots. The balloon sensor is a pressure sensor composed of an inflatable body of low-density polyethylene (LDPE), and a highly sensitive and flexible strain sensor laminated onto it. The mechanical crack-based strain sensor with high sensitivity enables the detection of extremely small changes in the strain of the balloon. Adjusting the geometric parameters of the balloon allows for a large and easily customizable sensing area. The weight of the balloon sensor was approximately 2 g. The sensor is employed with a servo motor and detects a finger or a sheet of rolled paper gently touching it, without being damaged.


Author(s):  
Feifei Chen ◽  
Yunpeng Miao ◽  
Guoying Gu ◽  
Xiangyang Zhu

Author(s):  
Shitong Chen ◽  
Feifei Chen ◽  
Zizheng Cao ◽  
Yusheng Wang ◽  
Yunpeng Miao ◽  
...  

2021 ◽  
Vol 42 (2) ◽  
pp. 159-172
Author(s):  
Qiang Zhang ◽  
Shayuan Weng ◽  
Zeang Zhao ◽  
H. J. Qi ◽  
Daining Fang

Author(s):  
Rahul Mitra ◽  
Kirkland Boyd ◽  
Divas Subedi ◽  
Digesh Chitrakar ◽  
Edwin Aldrich ◽  
...  
Keyword(s):  

2012 ◽  
Vol 271-272 ◽  
pp. 1742-1749
Author(s):  
Peng Cheng Huang ◽  
Qing Hua Yang ◽  
Guan Jun Bao ◽  
Li Bin Zhang

Aimed at existing problems on the bending performance of pneumatic bending joint, a new type of pneumatic bending joint is proposed in this paper. Double flexible pneumatic actuators are used as actuating drivers. Based on the first law of thermodynamics and the joint dynamic equation, the angle dynamic model is established and analyzed. Moreover simplified model is proposed. Meanwhile, its dynamic characteristic is analyzed through simulation analysis. The simulation suggests the following results: in the gas-filled phase, the joint’s pressure response time is about 10ms; while it is about 60ms in the gas-escape phase; and the angle response time of joint is 10 to 20ms. When the joint damping coefficient is increasing, this value will also increase.


2013 ◽  
Vol 460 ◽  
pp. 1-12 ◽  
Author(s):  
Alexander Hošovský ◽  
Kamil Židek

Pneumatic artificial muscles belong to a category of nonconventional pneumatic actuators that are distinctive for their high power/weight ratio, simple construction and low price and maintenance costs. As such, pneumatic artificial muscles represent an alternative type of pneumatic actuator that could replace the traditional ones in certain applications. Due to their specific construction, PAM-based systems have nonlinear characteristics which make it more difficult to design a control system with good performance. In the paper, a gray-box model (basically analytical but with certain experimental parts) of the one degree-of-freedom PAM-based actuator is derived. This model interconnects the description of pneumatic and mechanical part of the system through a set of several nonlinear differential equations and its main purpose is the design of intelligent control system in simulation environment. The model is validated in both open-loop and closed-loop mode using the measurements on real plant and the results confirm that model performance is in good agreement with the performance of real actuator.


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