Research on Low Cost Automatic Polishing Machine for Die/Mold Manufacturing

2012 ◽  
Vol 233 ◽  
pp. 177-180
Author(s):  
Jian Xin Liu ◽  
Jian Jun Lv ◽  
Ping Tan
Keyword(s):  
Low Cost ◽  
Force Sensor ◽  
Stone Tool ◽  
Proportional Valve ◽  
Pneumatic Control ◽  
Automatic Polishing ◽  
Automation Level ◽  
Polishing Machine ◽  
Compliant Actuator ◽  
Pneumatic Cylinders

In order to improve die/mold polishing worker’s environment and polishing automation level, we introduce a kind of low cost automatic polishing machine (LCAPM) with compliant actuator. The actuator is composed of a Tripod mechanism driven by pneumatic cylinders. Proportional valve is used to guarantee precision of cylinder’s position, and a 3D force sensor is used to adjust polishing contact force between grind stone tool and workpiece. Structure of LCAPM is described in detail; pneumatic control circuit and cylinder’s position are modeled in succession. Finally, a computing case of cylinder’s position for given workpiece is shown.

scholarly journals A novel mode controllable hybrid valve pressure control method for soft robotic gripper

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880214 ◽  
Author(s):  
Haiming Huang ◽  
Linyuan Wu ◽  
Junhao Lin ◽  
Bin Fang ◽  
Fuchun Sun
Keyword(s):  
Control Method ◽  
Low Cost ◽  
Pressure Control ◽  
Proportional Valve ◽  
Pneumatic Control ◽  
Control Scheme ◽  
Wide Range ◽  
Different Shapes ◽  
Soft Actuators ◽  
Valve Pressure

Compared with traditional rigid gripper with joint-linkage structure, novel soft robotic gripper gives rise to continuous concern for the advantages of no-damage grasping, convenient manufacture, easy control, and low cost. In this study, we design and built two kinds of soft robotic grippers with four fiber-reinforced soft actuators which are distributed in circular and rectangle shapes for single and twin contacts grasping. A novel hybrid valve pneumatic control scheme combining proportional and solenoid valves is proposed. Also, a mode controllable hybrid valve pressure control method is proposed to adjust internal pressure of soft robotic grippers to adapt to different grasping tasks. The experiment results verify that the performances of hybrid valve outperform those of individual proportional valve or solenoid valve in the aspects of response time and steady-state accuracy. The hybrid valve has wide range of pressure regulation, result in that the soft robotic grippers are qualified to grasp various objects with different shapes, sizes, and weights.

Design on Four DOF Pneumatic Conveyance Manipulator Based on PLC

2013 ◽  
Vol 319 ◽  
pp. 616-621
Author(s):  
Xiao Mei Wang ◽  
Xiong Zhou ◽  
Meng Tao Yang
Keyword(s):  
Circuit Design ◽  
Structural Design ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Design Work ◽  
Work Task ◽  
Pneumatic Control ◽  
Plc Control ◽  
Work Cycle ◽  
Pneumatic Conveyance

The design of four degrees of freedom pneumatic conveyance manipulator based on PLC is introduced in the paper. The work task of the manipulator was briefly introduced. The structural design, work cycle, pneumatic control circuit design and PLC control system design are introduced in detail. The manipulator has the advantages of simple in design, stable and reliable act,research and development in low-cost. The design is to provide a reference for other design of economic type manipulators.

Design and Analysis of a Multimodal Grasper Having Shape Conformity and Within-Hand Manipulation With Adjustable Contact Forces

2019 ◽  
Vol 11 (5) ◽  
Author(s):  
Nagamanikandan Govindan ◽  
Asokan Thondiyath
Keyword(s):  
Control Strategies ◽  
Low Cost ◽  
Active Surface ◽  
Force Sensor ◽  
Contact Forces ◽  
Geometrical Shape ◽  
Planning And Control ◽  
Control Scheme ◽  
And Control ◽  
Compact Mechanism

Abstract This paper presents the design, analysis, and testing of a novel multimodal grasper having the capabilities of shape conformation, within-hand manipulation, and a built-in compact mechanism to vary the forces at the contact surface. The proposed grasper has two important qualities: versatility and less complexity. The former refers to the ability to grasp a range of objects having different geometrical shape, size, and payload and perform in-hand manipulations such as rolling and sliding, and the latter refers to the uncomplicated design, and ease of planning and control strategies. Increasing the number of functions performed by the grasper to adapt to a variety of tasks in structured and unstructured environments without increasing the mechanical complexity is the main interest of this research. The proposed grasper consists of two hybrid jaws having a rigid inner structure encompassed by a flexible, active gripping surface. The flexibility of the active surface has been exploited to achieve shape conformation, and the same has been utilized with a compact mechanism, introduced in the jaws, to vary the contact forces while grasping and manipulating an object. Simple and scalable structure, compactness, low cost, and simple control scheme are the main features of the proposed design. Detailed kinematic and static analysis are presented to show the capability of the grasper to adjust and estimate the contact forces without using a force sensor. Experiments are conducted on the fabricated prototype to validate the different modes of operation and to evaluate the advantages of the proposed concept.

Utilizing the Nonlinearity of Tendon Elasticity for Compensation of Unknown Gravity of Payload

2018 ◽  
Vol 30 (6) ◽  
pp. 873-879
Author(s):  
Chao Shao ◽  
Junki Togashi ◽  
Kazuhisa Mitobe ◽  
Genci Capi ◽  
◽  
...  
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Force Sensor ◽  
Error Reduction ◽  
Position Error ◽  
Gravity Compensation ◽  
Robot Arm ◽  
Positioning Control ◽  
State Position ◽  
Significant Cost Reduction

This paper discusses the positioning control of an elastic tendon-driven robot arm under gravity. The robot is driven by rubber string tendons and winding drums attached on the outside frames. Low-cost rubber strings that are available commercially are used as tendons. The goal is to utilize the nonlinear nature of the rubber materials to control a low-cost and soft robot arm. Theoretically, a mathematical model with accurate parameters and accurate measurement of the payload weight is necessary for rigorous gravity compensation. However, the necessity for the information of the robot parameters is hindering easy adaptability, versatility, and cost-efficiency. This paper presents an iterative estimation and compensation method for unknown payloads based on the steady-state position error and the nominal stiffness coefficient. Owing to the nonlinearity of the actual rubber strings, the position error remains after a single operation of the gravity compensation. However, experiments indicate that the error reduces by a simple iteration of the same compensation operation. Considering the nonlinearity in rubber strings, the mechanism of the error reduction is analyzed theoretically. Although the iterative process is time consuming, the method requires less prior information. In addition, it is cost effective because a sophisticated force sensor is not required. As the mechanism of error reduction applies to typical rubber string materials, it is useful for significant cost-reduction and reconfigurable robotics.

Research of Hydrotronic Variable-Displacement Radial Piston Pump with Electro-Pneumatic Control

2010 ◽  
Vol 164 ◽  
pp. 37-40 ◽  
Author(s):  
Ryszard Jasiński
Keyword(s):  
Control System ◽  
Rate Control ◽  
Piston Pump ◽  
Programmable Logic ◽  
Pneumatic Control ◽  
Pump Flow Rate ◽  
Pneumatic Valves ◽  
Variable Displacement ◽  
Flow Rate Control ◽  
Pneumatic Cylinders

The paper presents the developed new electro-pneumatic control (pneumotronic) system for hydraulic fixed-displacement radial piston pump. Hydraulic fixed-displacement radial piston pump equipped with the proposed control system changes into hydrotronic variable-displacement radial piston pump. Pump flow rate control is realized by means of programmable logic controller, electro-pneumatic valves, pneumatic cylinders and a sensor.

Stabilization and equilibrium control of a new pneumatic cart-seesaw system

Robotica ◽  
2008 ◽  
Vol 26 (2) ◽  
pp. 219-227 ◽  
Author(s):  
J. Lin ◽  
J. H. Zhan ◽  
Julian Chang
Keyword(s):  
State Feedback ◽  
Initial Position ◽  
Degree Of Freedom ◽  
Test Results ◽  
Control Performance ◽  
Proportional Valve ◽  
Pneumatic Control ◽  
Supervisory Controller ◽  
Equilibrium Control ◽  
And Control

SUMMARYThis investigation describes the mechanical configuration and control environment for a novel cart-seesaw system. This mechanism is called a super articulated mechanical system (SAMS). The system comprises a cart that slides on the pneumatic rodless cylinder. The rodless cylinder is double-acting with the carrier bracket, on which a cart is a pinion mechanism for the tracks. The cart-seesaw system brings the cart from any initial position to a desired position on the seesaw by applying an appropriate force to the cart and thus adjusting the angle of the seesaw. The position of a cart denotes the first degree of freedom, which is activated by a pneumatic proportional valve, and the angle of the seesaw indicates the second degree of freedom that is not actuated. Consequently, the proposed new pneumatic cart-seesaw system is straightforward to construct and direct to operate in different scenarios of performance. A state feedback controller is applied for stabilization of the equilibrium point of the system. Moreover, this study adds a supervisory controller that takes control action in extreme situations. Test results reveal excellent properties in control performance. The proposed product can be extensively applied in SAMS and pneumatic control for robotics control laboratory.

scholarly journals Development, Kinematic Modeling and Analysis of 3 (DoF) Pneumatic Gantry Robot

2020 ◽  
Vol 5 (6) ◽  
pp. 646-650
Author(s):  
Awad Eisa G. Mohamed ◽  
Abuobeida Mohammed Elhassan
Keyword(s):  
Controller Design ◽  
Low Cost ◽  
Weight Ratio ◽  
Friction Model ◽  
Pneumatic Cylinder ◽  
Kinematic Modeling ◽  
Low Friction ◽  
Modeling And Analysis ◽  
Gantry Robot ◽  
Pneumatic Cylinders

Low friction pneumatic cylinders are now being considered in applications for which only electric motors or hydraulics were previously considered suitable. One potential application of low friction pneumatics is robotic for metallurgical operations where the high power to weight ratio and low cost could be exploited. As part of an ongoing project to develop a pneumatic robot, this paper presents the kinematic analysis of pneumatic cylinder characteristics that simplifies controller design. Using mathematical modeling and simulation, non-linearity of modern pneumatic systems have been investigated. The derived models give an excellent representation of the system, despite the inclusion of a simplified friction model.

scholarly journals DEVELOPMENT AND OPERATIONAL TESTING OF THE TOOL FOR TRANSPORTING DEVICES IN UNCASED BOREHOLES

2020 ◽  
Vol 2 ◽  
pp. 148-152
Author(s):  
Andrey V. Patutin ◽  
Andrey N. Drobchik ◽  
Yuri S. Zaharov
Keyword(s):  
Control Valve ◽  
Geological Structure ◽  
Measuring Instruments ◽  
Pneumatic Control ◽  
Operational Testing ◽  
Urgent Task ◽  
Mining Scheme ◽  
The Cost ◽  
Filtration Properties ◽  
Pneumatic Cylinders

Reducing the cost of conducting studies of the physical and filtration properties of unmined rocks at a considerable distance from the workings is an urgent task. Its solution will clarify the features of geological structure of the massif and optimize the mining scheme. The article presents the results of the development and operational testing of the tool for transporting measuring instruments along an uncased borehole drilled from underground working. The tool is based on a circuit with two pneumatic cylinders and a pneumatic control valve, the input of which is supplied with compressed air. During tests in the model of the uncased borehole, it was found that the transportation speed is 9 m/min and the generated push force at an air pressure of 10 bar is 58 kgf.

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