论文标题
OpenPneu：用于多通道的气动驱动的紧凑型平台
OpenPneu: Compact platform for pneumatic actuation with multi-channels
论文作者
论文摘要
本文提出了一个紧凑的系统OpenPneu，以支持软机器人多腔的气动驱动。系统中使用微型泵来生成气流，因此不需要额外的输入，因为需要压缩空气。我们的系统执行模块化设计以提供良好的可扩展性，这已在具有十个空气通道的原型上证明。 OpenPNEU的每个空气通道都配备了通货膨胀和通气功能，以提供从正到负的全范围压力供应，最大流速为1.7 l/min。我们的系统内置了对压力的高精度闭环控制，以实现稳定而有效的动态性能。提供了Python中的开源控制接口和API。我们还证明了OpenPneu在三个软机器人系统上的功能，最多10个腔室。
This paper presents a compact system, OpenPneu, to support the pneumatic actuation for multi-chambers on soft robots. Micro-pumps are employed in the system to generate airflow and therefore no extra input as compressed air is needed. Our system conducts modular design to provide good scalability, which has been demonstrated on a prototype with ten air channels. Each air channel of OpenPneu is equipped with both the inflation and the deflation functions to provide a full range pressure supply from positive to negative with a maximal flow rate at 1.7 L/min. High precision closed-loop control of pressures has been built into our system to achieve stable and efficient dynamic performance in actuation. An open-source control interface and API in Python are provided. We also demonstrate the functionality of OpenPneu on three soft robotic systems with up to 10 chambers.
