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Krmilni algoritem antagonistično povezanih pnevmatičnih mišic
Protner, Jernej (Author), Herakovič, Niko (Mentor) More about this mentor... This link opens in a new window

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Abstract
Zaradi vse večje potrebe po zmanjšanju velikosti aktuatorjev v robotskih sistemih za industrijske, bio-mehanske in druge aplikacije se zanimanje za uporabo miniaturnih pnevmatičnih mišic povečuje. Prav tako se z razvojem aktuatorjev povečuje tudi zahteva po visoki natančnosti in hitrem odzivu pogonskega sistema. Zato je v magistrski nalogi obravnavana analiza vpliva dimenzij komponent pnevmatične mišice, koncipiranje miniaturne pnevmatične mišice ter izdelava krmilnega algoritma in preizkuševališča za krmiljenje dveh antagonistično povezanih pnevmatičnih mišic. V prvem delu magistrske naloge je podan podroben pregled literature s področja pnevmatičnih mišic in krmilnih algoritmov. V drugem delu je predstavljena zasnova koncepta miniaturnih pnevmatičnih mišic ter eksperimentalna analiza vpliva premera notranje cevke in plašča oz. ojačitvenih vlaken pnevmatične mišice na njene lastnosti. V tretjem delu magistrske naloge je predstavljen razvoj novega krmilnega algoritma za sistem dveh antagonistično vpetih pnevmatičnih mišic. Prikazana je nadgradnja že razvitega A-PID (Adaptivni PID) krmilnega algoritma za naš sistem in izdelava preizkuševališča za testiranje odziva. Na koncu je predstavljena primerjava rezultatov, eksperimentalne analize odziva novo razvitega krmilnega algoritma za sistem dveh antagonistično vpetih pnevmatičnih mišic z rezultati analize odziva drugih primerljivih obstoječih sistemov.

Language:Slovenian
Keywords:pnevmatične mišice, antagonistični sistem, krmilni algoritem, krmiljenje pozicije in tlaka, krmiljenje hitrih preklopnih ventilov, robotska roka
Work type:Master's thesis/paper (mb22)
Organization:FS - Faculty of Mechanical Engineering
Year:2017
Views:785
Downloads:331
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Secondary language

Language:English
Title:Control algorithm of antagonistic pneumatic artificial muscles
Abstract:
Because of the growing need for smaller sized actuators in robotic systems in industrial, bio-mechanical and other applications, the interest in using miniature pneumatic muscles is increasing. With advancements in the field of actuators, the need for high precision and fast responses of control systems is also increasing. For these reasons, this master's thesis consists of analyzing the effects of pneumatic muscles component dimensions, designing miniature pneumatic muscles, developing a control algorithm and a testing rig for controlling two antagonistically connected pneumatic muscles. The first part of the master's thesis consists of a thorough literature overview of pneumatic muscles and control algorithms. The second part presents a concept of miniature pneumatic muscle and experimental analysis to determine the effect of different dimension relations of the inner membrane and outer strengthening fibers. The third part explains the development of a new control algorithm for controlling two antagonistically connected pneumatic muscles. An upgrade of the already designed A-PID (Adaptive PID) control algorithm is also shown, as well as the construction of the testing rig for measuring the muscle's response. In the end, a comparison is made between data from already known systems and the results of our newly developed control algorithm.

Keywords:pneumatic muscles, antagonistic system, control algorithm, position and pressure control, control of fast switching valves, robotic arm

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