Design and Basic Performance Analysis of a Bionic Finger Soft Actuator with a Dual-Chamber Composite Structure

Actuators, Год журнала: 2025, Номер 14(6), С. 268 - 268

Опубликована: Май 28, 2025

Pneumatic soft manipulators are one of the current development trends in field manipulators. The manipulator that has been developed at present still problems with single function and poor load-bearing capacity. This paper designs a composite finger inspired by human middle finger, featuring dual-chamber pneumatic drive embedded steel sheet structure. Utilizing principles moment equilibrium virtual work, theoretical model for bending behavior is developed, correlation between angle driving air pressure derived. determination process key parameters their influence on deformation explained detail through simulation. experiment confirmed reliability model. fingertip force test indicates exerts greater than ordinary one, extra equivalent to 42.57% finger’s own force. Subsequent tests robotic hand measured hooking quality, gripping diameter, fingers have stronger capacity fingers, an 31.25% Finally, grasping demonstrates can grasp objects varying shapes weights, indicating its strong adaptability promising applications.

Язык: Английский

Design of Low-Cost Modular Bioinspired Electric-Pneumatic Actuator (EPA) Driven Legged Robots

Опубликована: Фев. 2, 2024

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates utilization physical test benches to validate hypotheses regarding real-world applications locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating intricacies control strategies. Expanding upon our prior research in Electric-Pneumatic Actuation (EPA), we present mechanical electrical designs latest developments EPA robot series. These include Jumper, a human-sized segmented monopod robot, its extension Walker, bipedal robot. Both replicate human weight inertia distributions, featuring co-actuation through motors pneumatic artificial muscles. low-cost platforms, with considerations degrees freedom redundant actuation, 1) provide opportunities different locomotor subfunctions— stance, swing, balance; 2) help investigate role actuation schemes tasks such as hopping walking; 3) allow testing biological locomotors benches.

Язык: Английский

Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping

Biomimetics, Год журнала: 2024, Номер 9(12), С. 780 - 780

Опубликована: Дек. 21, 2024

Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios enhance system robustness precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for development of a dynamic model that incorporates compensation friction cogging forces. To address parameter uncertainties, indirect adaptation strategy based on recursive least squares algorithm introduced. It updates parameters state instead output error, ensuring robust convergence. integral sliding mode observer (ISMO) constructed estimate compensate residual achieving finite-time estimation. The proposed controller enables through parameterized laws, offering flexibility desired performance. System stability bounded tracking were validated via second-order Lyapunov function analysis. Experimental results real PMLSM demonstrated that, while ratio characteristics, there significant improvement accuracy suppression. underscores scheme’s potential advancing precision direct-drive applications.

Язык: Английский