A high current, AC waveform controller with C-type body frame of spot welder(75 k VA), was examined for the electrode actuating system whose pneumatically driven system has been redesigned and refitted for the servo b...A high current, AC waveform controller with C-type body frame of spot welder(75 k VA), was examined for the electrode actuating system whose pneumatically driven system has been redesigned and refitted for the servo based system without any vertical spring assistance in the 50 mm movable distance. Moreover, the pressing mechanism was carefully handled during the entire pressing tasks as to ensure that no catastrophic reaction happens for the electrodes' caps, electrodes' holders as well as the other part of mechanical assembly. With the mechanically originated-pneumatic and also the converted-servo systems, the stainless steels are welded for both systems to characterize the improvements. While the welding processes were carried out, the electrical signals have been captured to compute the signals' representation of entire sequences. Later, the welded samples were underwent the tensile shear test, metallurgical observation and hardness test. The analytical results show distinct changes in the force profiles which has led to profound changes in mechanical properties of welded specimens.展开更多
The pneumatic rotary position system, in which an electro-pneumatic proportional flow valve controled a rotary cylinder, was studied, and its mathematical model was built. The model indicated that the controlled pneum...The pneumatic rotary position system, in which an electro-pneumatic proportional flow valve controled a rotary cylinder, was studied, and its mathematical model was built. The model indicated that the controlled pneumatic system had disadvantages such as inherent non-linearity and variations of system parameters with working points. In order to improve the dynamic performance of the system, feed forward compensation self-tuning pole-placement strategy was adopted to place the poles of the system in a desired position in real time, and a recursive least square method with fixed forgetting factors was also used in the parameter estimation. Experimental results show that the steady state error of the pneumatic rotary position system is within 3% and the identified system parameters can be converged in 5 s. Under different loads, the controlled system has an excellent tracking performance and robustness of anti-disturbance.展开更多
A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-...A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.展开更多
Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness,bulkiness and less compliance.Recently,the soft pneumatic actuator is demonstrated to be more suitable fo...Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness,bulkiness and less compliance.Recently,the soft pneumatic actuator is demonstrated to be more suitable for hand rehabilitation compared to motor because of its inherent compliance,flexibility and safety.In order to design a wearable glove in request of hand rehabilitation,a soft hoop-reinforced pneumatic actuator is presented.By analyzing the influence of its section shape and geometrical parameters on bending performance,the preferred structure of actuator is achieved based on finite element method.An improved hoop-reinforced actuator is designed after the fabrication and initial measurement,and its mathematical model is built in order to quickly obtain the bending angle response when pressurized.A series of experiment about bending performance are implemented to validate the agreement between the finite element,mathematical and experimental results,and the performance improvement of hoop-reinforced actuator.In addition,the designed hand rehabilitation glove is tested by measuring its output force and actual wearing experience.The output force can reach 2.5 to 3 N when the pressure is 200 kPa.The research results indicate that the designed glove with hoop-reinforced actuator can meet the requirements of hand rehabilitation and has prospective application in hand rehabilitation.展开更多
Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It h...A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.展开更多
Compared with the conventionally gaseous or liquid working media,the specific internal energy of supercritical carbon dioxide(SCD)is higher at the same temperature and pressure,and the critical temperature of carbon d...Compared with the conventionally gaseous or liquid working media,the specific internal energy of supercritical carbon dioxide(SCD)is higher at the same temperature and pressure,and the critical temperature of carbon dioxide is close to room temperature,making SCD a potential new working medium for pneumatic launch.To analyze the feasibility of this conception,an analytical model of a pneumatic catapult is established on basis of the conservations of mass and energy.The model consists of a high-pressure chamber and a low-pressure chamber connected by multiple valves,and there is a movable piston in the low-pressure chamber that can push an aircraft to accelerate.The effects of the launch readiness state of SCD in the high-pressure chamber,the initial volume of the low-pressure chamber and the valve control on the movement of the aircraft are analyzed.It is found that there is a restrictive relation between the temperature and pressure of the launch readiness state of SCD,i.e.,there is a maximum allowable launch readiness pressure when the launch readiness temperature is fixed.If this restrictive relation is not satisfied,the working medium in the low-pressure chamber will drop to its triple point within a few milliseconds,leading to a launch failure.Owing to this restrictive relation,there is an optimal launch readiness state of SCD with the highest working capacity for any allowable launch readiness temperature.The pressure of the low-pressure chamber will decrease significantly as the initial volume increases,leading to a decreased acceleration of the aircraft.The acceleration can be controlled below a critical value by a designed sequential blasting technique of multiple valves.The calculated results show that a 500 kg aircraft can be accelerated from 0 to 58 m/s in 0.9 s with 36 kg of carbon dioxide.This research provides a new technique for the controllable cold launch of an aircraft.展开更多
The structure and working principle of a self-deigned high pressure electronic pneumatic pressure reducing valve (EPPRV) with slide pilot are introduced.The resistance value formulas and the relationship between the r...The structure and working principle of a self-deigned high pressure electronic pneumatic pressure reducing valve (EPPRV) with slide pilot are introduced.The resistance value formulas and the relationship between the resistance and pressure of three typical pneumatic resistances are obtained.Then,the method of static characteristics analysis only considering pneumatic resistances is proposed,the resistance network from gas supply to load is built up,and the mathematical model is derived from the flow rate formulas and flow conservation equations,with the compressibility of high pressure gas and temperature drop during the expansion considered in the model.Finally,the pilot spool displacement of 1.5 mm at an output pressure of 15MPa and the enlarging operating stroke of the pilot spool are taken as optimization targets,and the optimization is carried out based on genetic algorithm and the model mentioned above.The results show that the static characteristics of the EPPRV are significantly improved.The idea of static characteristics analysis and optimization based on pneumatic resistance network is valuable for the design of pneumatic components or system.展开更多
Dynamic modeling was carried on by combining the dynamic of machinery with composite triology, and the critical condition in which the ways would not produce composite-friction self-excited vibration was obtained. The...Dynamic modeling was carried on by combining the dynamic of machinery with composite triology, and the critical condition in which the ways would not produce composite-friction self-excited vibration was obtained. The movement regularity and characteristic of the airflow in exhaust gas slit were analyzed, and the relationship between pressure lost and geometry parameters of exhaust gas slit was obtained. A dynamic model and a mathematical model were established for pneumatic half-floating slide ways by combining the dynamics of machinery with hydrokinetics. The objective function for the optimization of slide ways was established based on the fuzzy optimization theory. The membership function of fuzzy constraint was deduced, the fuzzy constraint limit was established by amplification coefficient method, and the optimal value was resolved by the multilevel fuzzy comprehensive evaluation method. By combining the internal penalty function method with the variable metric method, the fuzzy optimization design program of ways was designed based on the Matlab platform. The validation was carried on by an example, and ideal results of fuzzy optimization design of slide ways were obtained.展开更多
Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simula...Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.展开更多
In many cases, the internal surface of the mechanical elements is required to detect and measure. For this task, a special mobile device should be utilized. A squirming robot is presented for the purpose, which is wor...In many cases, the internal surface of the mechanical elements is required to detect and measure. For this task, a special mobile device should be utilized. A squirming robot is presented for the purpose, which is working on the controlled deformation of a pneumatic columnar elastic shell. This elastic shell is made of caoutchouc. It is strengthened by the internal spiral metal wire, which also restricts its deformation in radial direction, so it can only deform in axis direction. The squirming robot also involves four osculums and a vision system. It can go forward and back and turn around easily by controlling the four osculums and the moving velocity can be controlled through the pressure of compressed air. The moving step can be flexibly adjusted. In this paper, the working principle and mechanical characteristics of the columnar elastic shell are analyzed and discussed in detail. The relationship between the elongation X and the pressure of compressed air P, the bending angular degree θ and the pressure of compressed air P are first established by using the theory of elasticity mechanics. And also we simulate its nonlinear dynamic system in certain diving force F and elastic coefficient E of elastic shell. The results indicate this squirming robot is simple in structure, low cost in manufacture and being apt to be miniaturized. It can be used in detecting the internal surface of mechanical elements or inside certain complicate pipe, when this equipment is manufactured in special, and that this process is able to be fulfilled.展开更多
文摘A high current, AC waveform controller with C-type body frame of spot welder(75 k VA), was examined for the electrode actuating system whose pneumatically driven system has been redesigned and refitted for the servo based system without any vertical spring assistance in the 50 mm movable distance. Moreover, the pressing mechanism was carefully handled during the entire pressing tasks as to ensure that no catastrophic reaction happens for the electrodes' caps, electrodes' holders as well as the other part of mechanical assembly. With the mechanically originated-pneumatic and also the converted-servo systems, the stainless steels are welded for both systems to characterize the improvements. While the welding processes were carried out, the electrical signals have been captured to compute the signals' representation of entire sequences. Later, the welded samples were underwent the tensile shear test, metallurgical observation and hardness test. The analytical results show distinct changes in the force profiles which has led to profound changes in mechanical properties of welded specimens.
基金Project(50375034) supported by the National Natural Science Foundation of China
文摘The pneumatic rotary position system, in which an electro-pneumatic proportional flow valve controled a rotary cylinder, was studied, and its mathematical model was built. The model indicated that the controlled pneumatic system had disadvantages such as inherent non-linearity and variations of system parameters with working points. In order to improve the dynamic performance of the system, feed forward compensation self-tuning pole-placement strategy was adopted to place the poles of the system in a desired position in real time, and a recursive least square method with fixed forgetting factors was also used in the parameter estimation. Experimental results show that the steady state error of the pneumatic rotary position system is within 3% and the identified system parameters can be converged in 5 s. Under different loads, the controlled system has an excellent tracking performance and robustness of anti-disturbance.
基金Project(51375430)supported by the National Natural Science Foundation of China
文摘A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.
基金Project(51305202)supported by the National Natural Science Foundation of China
文摘Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness,bulkiness and less compliance.Recently,the soft pneumatic actuator is demonstrated to be more suitable for hand rehabilitation compared to motor because of its inherent compliance,flexibility and safety.In order to design a wearable glove in request of hand rehabilitation,a soft hoop-reinforced pneumatic actuator is presented.By analyzing the influence of its section shape and geometrical parameters on bending performance,the preferred structure of actuator is achieved based on finite element method.An improved hoop-reinforced actuator is designed after the fabrication and initial measurement,and its mathematical model is built in order to quickly obtain the bending angle response when pressurized.A series of experiment about bending performance are implemented to validate the agreement between the finite element,mathematical and experimental results,and the performance improvement of hoop-reinforced actuator.In addition,the designed hand rehabilitation glove is tested by measuring its output force and actual wearing experience.The output force can reach 2.5 to 3 N when the pressure is 200 kPa.The research results indicate that the designed glove with hoop-reinforced actuator can meet the requirements of hand rehabilitation and has prospective application in hand rehabilitation.
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
基金Project (50575206) supported by the National Natural Science Foundation of ChinaProject (BX102716) supported by Xinmiao Program of Zhejiang Province, China
文摘A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.
基金This work was funded by the National Natural Science Foundation of China(No.51576188).
文摘Compared with the conventionally gaseous or liquid working media,the specific internal energy of supercritical carbon dioxide(SCD)is higher at the same temperature and pressure,and the critical temperature of carbon dioxide is close to room temperature,making SCD a potential new working medium for pneumatic launch.To analyze the feasibility of this conception,an analytical model of a pneumatic catapult is established on basis of the conservations of mass and energy.The model consists of a high-pressure chamber and a low-pressure chamber connected by multiple valves,and there is a movable piston in the low-pressure chamber that can push an aircraft to accelerate.The effects of the launch readiness state of SCD in the high-pressure chamber,the initial volume of the low-pressure chamber and the valve control on the movement of the aircraft are analyzed.It is found that there is a restrictive relation between the temperature and pressure of the launch readiness state of SCD,i.e.,there is a maximum allowable launch readiness pressure when the launch readiness temperature is fixed.If this restrictive relation is not satisfied,the working medium in the low-pressure chamber will drop to its triple point within a few milliseconds,leading to a launch failure.Owing to this restrictive relation,there is an optimal launch readiness state of SCD with the highest working capacity for any allowable launch readiness temperature.The pressure of the low-pressure chamber will decrease significantly as the initial volume increases,leading to a decreased acceleration of the aircraft.The acceleration can be controlled below a critical value by a designed sequential blasting technique of multiple valves.The calculated results show that a 500 kg aircraft can be accelerated from 0 to 58 m/s in 0.9 s with 36 kg of carbon dioxide.This research provides a new technique for the controllable cold launch of an aircraft.
基金Project(50575202) supported by the National Natural Science Foundation of China
文摘The structure and working principle of a self-deigned high pressure electronic pneumatic pressure reducing valve (EPPRV) with slide pilot are introduced.The resistance value formulas and the relationship between the resistance and pressure of three typical pneumatic resistances are obtained.Then,the method of static characteristics analysis only considering pneumatic resistances is proposed,the resistance network from gas supply to load is built up,and the mathematical model is derived from the flow rate formulas and flow conservation equations,with the compressibility of high pressure gas and temperature drop during the expansion considered in the model.Finally,the pilot spool displacement of 1.5 mm at an output pressure of 15MPa and the enlarging operating stroke of the pilot spool are taken as optimization targets,and the optimization is carried out based on genetic algorithm and the model mentioned above.The results show that the static characteristics of the EPPRV are significantly improved.The idea of static characteristics analysis and optimization based on pneumatic resistance network is valuable for the design of pneumatic components or system.
基金Project(50775194) supported by the National Natural Science Foundation of China
文摘Dynamic modeling was carried on by combining the dynamic of machinery with composite triology, and the critical condition in which the ways would not produce composite-friction self-excited vibration was obtained. The movement regularity and characteristic of the airflow in exhaust gas slit were analyzed, and the relationship between pressure lost and geometry parameters of exhaust gas slit was obtained. A dynamic model and a mathematical model were established for pneumatic half-floating slide ways by combining the dynamics of machinery with hydrokinetics. The objective function for the optimization of slide ways was established based on the fuzzy optimization theory. The membership function of fuzzy constraint was deduced, the fuzzy constraint limit was established by amplification coefficient method, and the optimal value was resolved by the multilevel fuzzy comprehensive evaluation method. By combining the internal penalty function method with the variable metric method, the fuzzy optimization design program of ways was designed based on the Matlab platform. The validation was carried on by an example, and ideal results of fuzzy optimization design of slide ways were obtained.
基金Project(51205421)supported by the National Natural Science Foundation of ChinaProject(2012M521647)supported by the Postdoctoral Science Foundation of China
文摘Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.
文摘In many cases, the internal surface of the mechanical elements is required to detect and measure. For this task, a special mobile device should be utilized. A squirming robot is presented for the purpose, which is working on the controlled deformation of a pneumatic columnar elastic shell. This elastic shell is made of caoutchouc. It is strengthened by the internal spiral metal wire, which also restricts its deformation in radial direction, so it can only deform in axis direction. The squirming robot also involves four osculums and a vision system. It can go forward and back and turn around easily by controlling the four osculums and the moving velocity can be controlled through the pressure of compressed air. The moving step can be flexibly adjusted. In this paper, the working principle and mechanical characteristics of the columnar elastic shell are analyzed and discussed in detail. The relationship between the elongation X and the pressure of compressed air P, the bending angular degree θ and the pressure of compressed air P are first established by using the theory of elasticity mechanics. And also we simulate its nonlinear dynamic system in certain diving force F and elastic coefficient E of elastic shell. The results indicate this squirming robot is simple in structure, low cost in manufacture and being apt to be miniaturized. It can be used in detecting the internal surface of mechanical elements or inside certain complicate pipe, when this equipment is manufactured in special, and that this process is able to be fulfilled.
