Design, manufacturing and control of the open loop of a soft air arm: bending experiments
Authors:
(1) Jorge Francisco Garcia-Samartin, Centro de automatic Yar Robotica (UPM-CSIC), University of Politecnica de Madrid-Consejo Superior DE Investigaciones Cientıficas, Jose Josier Abiasal 2, 28006 Madrid, Spain (Spain)[email protected]);
(2) Adrian Rieker, Centro De Automatica y Robotica (UPM-CSIC), Universidad Politecnica De Madrid-Consejo Superior de Investigaciones Cientıficas, Jose Guterres Abiasal 2, 28006 Madrid, Spain;
(3) Antonio Barrientos, Centro De Automatica Y Robotica (Upm-CSIC), Universidad Politecnica de Madrid-Consejo Superior de Investigaciones Cientıficas, Jose Guterres Abiasal 2, 28006 Madrid, Spain.
Links table
Abstract and 1 introduction
2 relevant business
2.1 Air operation
2.2 Aerobic weapons
2.3 Control of soft robots
3 Paul: Design and Manufacturing
3.1 Robot design
3.2 Choose materials
3.3 Manufacturing
3.4 operating bank
4 Gain data and control the open episode
4.1 Device Preparing
4.2 vision capture system
4.3 Data set generation: table -based models
4.4 Open ring control
5 results
5.1 final version of Paul
5.2 Analysis of the work area
5.3 Perform the models based on the table
5.4 Bending experiments
5.5 Weight experiences
6 conclusions
Finance information
A. Experiments and references
5.4 Bending experiments
The first experiment consisted of an analysis of a segmental deviation for the time of swelling. For this purpose, one of the bomber was constantly amplified, at 100 millimeters. For each time, Paul End Cooord
Where X0 and Y0 indicate the initial mode of Paul End.
Since the weight of subsequent units affects the behavior of the first part, the experiment was repeated by placing the first part and then two additional parts. The results appear in Figure 18.
It can also be seen, Paul is able to bend up to 40 degrees to the vertical axis, and add new slices that does not cause any noticeable decrease in his ability to bend.
Although it is still far from 80 degrees [28] Or 70 degrees [32]PNEUNet slices and thus more flexible, this bending capacity is acceptable. Moreover, the fact that it does not lose its ability to bend significantly by adding slices that make it possible to sequence the bending movements and thus overcome obstacles that a rigid robot will not be able to overcome.
In conjunction with this, the health verification test that was aimed at showing Paul’s ability to bend thanks to his distorted engineering. The goal was to direct points in the side aircraft. The results of this experiment appear in Figure 19. Pictures, extracted from the video of the “A” video, shows how the processor can adopt different shapes, capable of bending up to 40 degrees and adapting, in the case of obstacles, to a wide variety of geometric shapes, which make Paul is an essential ally of inspection and exploration in very confusion environments.
