Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows
Recently, many kinds of soft actuators composed of flexible materials, such as silicon rubber, have been studied in the mechatronics field with increasing attention on the artificial muscle in welfare, medical care and biotechnology. Particularly, pneumatic-driven soft actuator moves flexibly and wo...
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doaj-8b538582b7974dcdaaa17f9e4d7a3ce62020-11-24T23:08:39ZengMDPI AGActuators2076-08252018-06-01722610.3390/act7020026act7020026Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering BellowsMizuki Sudani0Mingcong Deng1Shuichi Wakimoto2Department of Electrical and Electronic Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, JapanDepartment of Electrical and Electronic Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, JapanGraduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, JapanRecently, many kinds of soft actuators composed of flexible materials, such as silicon rubber, have been studied in the mechatronics field with increasing attention on the artificial muscle in welfare, medical care and biotechnology. Particularly, pneumatic-driven soft actuator moves flexibly and works safely because of not electrical but pneumatic input, so that the actuator could perform effectively in the medical operations. A miniature pneumatic bending rubber actuator is a tiny pneumatic-driven soft actuator which has some chambers connected to only one tube providing compressed air and the chamber has bellows. This actuator can bend circularly in two directions and grab delicate objects such as fish eggs, by inputting pressure into its chambers. The actuator, however, has nonlinear property derived from elastomer in input-output relation. The actuator, therefore, sacrifices some degree of control performance instead of obtaining the passive flexibility to delicate objects. To solve the above problem, previous studies have shown, by the experiments, that the effectiveness of designing the nonlinear feedback control system using robust right coprime factorization based on the operator theory for control of the output angle of the actuator. However, the mathematical model used for designing the system caused modelling error because the bellows were not considered in deriving the model. The mathematical model should fit experimental value as well as possible for system design and there has been no example modelling of the micro hand having bellows. In this research, a new model of the micro hand considering its bellows with elastomer property is proposed. Moreover, a control system using the robust right coprime factorization based on the operator theory is designed for the new model. Finally, the effectiveness is shown in the experiment.http://www.mdpi.com/2076-0825/7/2/26soft actuatormodellingbellowsoperator theorynonlinear controlright coprime factorization |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Mizuki Sudani Mingcong Deng Shuichi Wakimoto |
spellingShingle |
Mizuki Sudani Mingcong Deng Shuichi Wakimoto Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows Actuators soft actuator modelling bellows operator theory nonlinear control right coprime factorization |
author_facet |
Mizuki Sudani Mingcong Deng Shuichi Wakimoto |
author_sort |
Mizuki Sudani |
title |
Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows |
title_short |
Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows |
title_full |
Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows |
title_fullStr |
Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows |
title_full_unstemmed |
Modelling and Operator-Based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator Considering Bellows |
title_sort |
modelling and operator-based nonlinear control for a miniature pneumatic bending rubber actuator considering bellows |
publisher |
MDPI AG |
series |
Actuators |
issn |
2076-0825 |
publishDate |
2018-06-01 |
description |
Recently, many kinds of soft actuators composed of flexible materials, such as silicon rubber, have been studied in the mechatronics field with increasing attention on the artificial muscle in welfare, medical care and biotechnology. Particularly, pneumatic-driven soft actuator moves flexibly and works safely because of not electrical but pneumatic input, so that the actuator could perform effectively in the medical operations. A miniature pneumatic bending rubber actuator is a tiny pneumatic-driven soft actuator which has some chambers connected to only one tube providing compressed air and the chamber has bellows. This actuator can bend circularly in two directions and grab delicate objects such as fish eggs, by inputting pressure into its chambers. The actuator, however, has nonlinear property derived from elastomer in input-output relation. The actuator, therefore, sacrifices some degree of control performance instead of obtaining the passive flexibility to delicate objects. To solve the above problem, previous studies have shown, by the experiments, that the effectiveness of designing the nonlinear feedback control system using robust right coprime factorization based on the operator theory for control of the output angle of the actuator. However, the mathematical model used for designing the system caused modelling error because the bellows were not considered in deriving the model. The mathematical model should fit experimental value as well as possible for system design and there has been no example modelling of the micro hand having bellows. In this research, a new model of the micro hand considering its bellows with elastomer property is proposed. Moreover, a control system using the robust right coprime factorization based on the operator theory is designed for the new model. Finally, the effectiveness is shown in the experiment. |
topic |
soft actuator modelling bellows operator theory nonlinear control right coprime factorization |
url |
http://www.mdpi.com/2076-0825/7/2/26 |
work_keys_str_mv |
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