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Modelling and Using of McKibben Pneumatic Muscle in Haptic
Kopečný, Lukáš ; Janotková, Eva (referee) ; Nevřiva,, Pavel (referee) ; Šolc, František (advisor)
This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.
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New uncommon actuators in robotics
Fogelton, Lukáš ; Žalud, Luděk (referee) ; Kopečný, Lukáš (advisor)
This report presents up to now development of actuators in robotics theirs applications, specifics various sorts of actuators, theirs principles, advantages and disadvantages. Report is splitted to the part that presents usual used actuators, especially electric principle powered actuators, today primarily PMSM motors, furthermore pneumatic or hydraulic actuators that uses pistons principle for convert pressure energy to the motion, or piston combustion engines. In next part presents more unusual actuators that have interesting features for use. Lot of these actuators are elastic, deformable and have better power/weight ratio. In the last part is presented priciple of function pneumatic stepper motor, that is uncommon actuator useable for application in robot works compatible with magnetic resonance imaging.
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New uncommon actuators in robotics
Fogelton, Lukáš ; Žalud, Luděk (referee) ; Kopečný, Lukáš (advisor)
This report presents up to now development of actuators in robotics theirs applications, specifics various sorts of actuators, theirs principles, advantages and disadvantages. Report is splitted to the part that presents usual used actuators, especially electric principle powered actuators, today primarily PMSM motors, furthermore pneumatic or hydraulic actuators that uses pistons principle for convert pressure energy to the motion, or piston combustion engines. In next part presents more unusual actuators that have interesting features for use. Lot of these actuators are elastic, deformable and have better power/weight ratio. In the last part is presented priciple of function pneumatic stepper motor, that is uncommon actuator useable for application in robot works compatible with magnetic resonance imaging.
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Modelling and Using of McKibben Pneumatic Muscle in Haptic
Kopečný, Lukáš ; Janotková, Eva (referee) ; Nevřiva,, Pavel (referee) ; Šolc, František (advisor)
This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.
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