phloSAR: a Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866911787862982656 |
|---|---|
| author | Ahlquist, Maxwell Jitosho, Rianna Bao, Jiawen Okamura, Allison M. |
| author_facet | Ahlquist, Maxwell Jitosho, Rianna Bao, Jiawen Okamura, Allison M. |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_01086 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | phloSAR: a Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots Ahlquist, Maxwell Jitosho, Rianna Bao, Jiawen Okamura, Allison M. Robotics 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. |
| title | phloSAR: a Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.01086 |