phloSAR: a Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots
arxiv(2024)
摘要
Pneumatic actuation benefits soft robotics by facilitating compliance,
enabling large volume change, and concentrating actuator weight away from the
end-effector. However, portability is compromised when pneumatic actuators are
tethered to cumbersome air and power supplies. While there are existing options
for portable pneumatic systems, they are limited in dynamic capabilities,
constraining their applicability to low pressure and/or small-volume soft
robots. In this work, we propose a portable, high-flow pressure supply and
regulator (phloSAR) for use in untethered, weight-constrained, dynamic soft
robot applications. PhloSAR leverages high-flow proportional valves, an
integrated pressure reservoir, and Venturi vacuum generation to achieve
portability and dynamic performance. We present a set of models that describe
the system dynamics, experimentally validate them on physical hardware, and
discuss the influence of design parameters on system operation. Lastly, we
integrate a proof-of-concept prototype with a soft robot arm mounted on an
aerial vehicle to demonstrate the system's applicability to mobile robotics.
Our system enables new opportunities in mobile soft robotics by making
untethered pneumatic supply and regulation available to a wider range of soft
robots.
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