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Design and closed l...
Design and closed loop control of a 3D printed soft actuator
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- Ji, Qinglei (författare)
- KTH,Hållbara produktionssystem
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- Zhang, Xiran (författare)
- KTH,Mekatronik
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- Chen, Mo (författare)
- KTH,Hållbara produktionssystem
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- Wang, Xi Vincent, Dr. 1985- (författare)
- KTH,Industriell produktion
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- Wang, Lihui (författare)
- KTH,Hållbara produktionssystem
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- Feng, Lei (författare)
- KTH,Mekatronik
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(creator_code:org_t)
- IEEE, 2020
- 2020
- Engelska.
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Ingår i: 2020 16th IEEE International Conference on Automation Science and Engineering (CASE). - : IEEE. ; , s. 842-848
- Relaterad länk:
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https://ieeexplore.i...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Soft robots, made of soft materials such as di-electric elastomer or shape memory polymers, have receivedtremendous attentions due to its dexterousness, flexibility andsafety compared with rigid robots. However, wider applicationof soft robots is limited due to their complex fabrication processand poor controllability. Here, we introduce a closed loopcontrolled soft actuator that is fully 3D printed with flexiblematerial. The structure of the soft actuator is optimized withFinite Element Method (FEM) to acquire shortest fabricationtime and highest deformation for same stimulus input. A desk-top Fused Deposition Modeling (FDM) 3D printer is used forlow-cost fabrication of such actuators. A webcamera is used forthe image feedback which offers the real time shape monitoringof the soft actuator. An output feedback Proportional IntegralDerivative (PID) controller with lowpass filter is developed withpole placement design method based on a data-driven modelof the 3D printed soft actuator. The controller is implementedto regulate the input air pressure to ensure a fast-response, precise and robust shape changing for any work environments.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Annan maskinteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Other Mechanical Engineering (hsv//eng)
Nyckelord
- 3D print
- soft actuator
- Machine Design
- Maskinkonstruktion
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)