The University of Southampton
University of Southampton Institutional Repository

Design, modeling and control of an enhanced soft pneumatic network actuator

Design, modeling and control of an enhanced soft pneumatic network actuator
Design, modeling and control of an enhanced soft pneumatic network actuator
Inspired by nature, soft-bodied pneumatic network actuators (PNAs) composed of compliant materials have been successfully applied in the fields of industry and daily life because of large-amplitude motion and long life span. However, compliant materials simultaneously limit the output force, challenge the dynamic modeling and impede corresponding control. In this paper, we investigate the design, modeling and control of an enhanced PNA. First, an enhanced structure is proposed to improve the output force of PNAs with features of simplification of fabrication, lightweight and compliant material retentivity. Second, a dynamic model of the enhanced PNA is constructed based on the Euler–Lagrange (EL) method. Finally, an adaptive robust controller is addressed for PNAs in presence of system uncertainties without knowledge of its bounds in prior. Experiment results show that the output force of the enhanced PNA is four times greater than the actuator without enhanced structures, which affords to theoretical estimation. Moreover, the proposed controller is utilized and compared with previous works in humanoid finger experiments to illustrate the effectiveness.
Pneumatic network actuator, adaptive robust control, dynamic model, force improvement
Cao, Guizhou
13298236-1776-4302-b904-9c4b2b05cf39
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Huo, Benyan
833a21f6-968f-4f7e-826f-449c560b9ca9
Liu, Yanhong
7db5cacb-a9fd-4a02-8843-5009c319c000
Cao, Guizhou
13298236-1776-4302-b904-9c4b2b05cf39
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Huo, Benyan
833a21f6-968f-4f7e-826f-449c560b9ca9
Liu, Yanhong
7db5cacb-a9fd-4a02-8843-5009c319c000

Cao, Guizhou, Chu, Bing, Huo, Benyan and Liu, Yanhong (2021) Design, modeling and control of an enhanced soft pneumatic network actuator. International Journal of Humanoid Robotics, 18 (1), [2150004].

Record type: Article

Abstract

Inspired by nature, soft-bodied pneumatic network actuators (PNAs) composed of compliant materials have been successfully applied in the fields of industry and daily life because of large-amplitude motion and long life span. However, compliant materials simultaneously limit the output force, challenge the dynamic modeling and impede corresponding control. In this paper, we investigate the design, modeling and control of an enhanced PNA. First, an enhanced structure is proposed to improve the output force of PNAs with features of simplification of fabrication, lightweight and compliant material retentivity. Second, a dynamic model of the enhanced PNA is constructed based on the Euler–Lagrange (EL) method. Finally, an adaptive robust controller is addressed for PNAs in presence of system uncertainties without knowledge of its bounds in prior. Experiment results show that the output force of the enhanced PNA is four times greater than the actuator without enhanced structures, which affords to theoretical estimation. Moreover, the proposed controller is utilized and compared with previous works in humanoid finger experiments to illustrate the effectiveness.

This record has no associated files available for download.

More information

Accepted/In Press date: 20 February 2021
Published date: 17 April 2021
Keywords: Pneumatic network actuator, adaptive robust control, dynamic model, force improvement

Identifiers

Local EPrints ID: 449538
URI: http://eprints.soton.ac.uk/id/eprint/449538
PURE UUID: 83bfff8f-454a-4e0b-904c-c6d2e8f6e0ff
ORCID for Bing Chu: ORCID iD orcid.org/0000-0002-2711-8717

Catalogue record

Date deposited: 07 Jun 2021 16:30
Last modified: 28 Apr 2022 02:06

Export record

Contributors

Author: Guizhou Cao
Author: Bing Chu ORCID iD
Author: Benyan Huo
Author: Yanhong Liu

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×