A General Pneumatic Muscle Embedded Controller

Abstract

A universal pneumatic muscle embedded controller, including a control layer, a driving layer and a sensing layer; the control layer, the driving layer and the sensing layer are interconnected, and the control layer is responsible for receiving measurement data from the sensing layer and sending control signals to the driving layer . The drive layer includes a PWM signal amplification circuit and a high-speed switching valve; the input end of the PWM signal amplification circuit is connected to the PWM output module of the control layer, receiving the PWM signal generated by the PWM output module, and the output end of the PWM signal amplification circuit is connected to the high-speed switching valve; The circuit structure of the PWM signal amplifier circuit is a series connection of a follower and a switching transistor. It does not use an optocoupler switch. It has a simple structure and can receive higher frequency input signals. The invention realizes the integration of control, driving and sensing. The design of the driving board realizes 200Hz frequency output, which is 10 times higher than that of the traditional driver. The use of the logic module ensures that the two PWM signals are not sent out at the same time to cause conflicts.

Description

technical field [0001] The invention belongs to the field of integrated controllers and high-frequency drivers, and in particular relates to a universal pneumatic muscle embedded controller. Background technique [0002] Pneumatic muscle is a new type of stretching actuator. Compared with conventional cylinders, pneumatic muscle has a large initial tension. When contracting, the contraction force decreases, which makes it possible to obtain a large acceleration while reaching smoothly. destination location. Pneumatic muscles have the ability to simulate the physiological and physical characteristics of biological muscles, and are especially suitable as drivers for biological robots. Due to the advantages of light weight, flexibility and variable stiffness of aerodynamic muscle actuation, there are more and more applications and researches on aerodynamic muscle actuated robots. [0003] In the process of building the robot hardware, it is found that the control of a robot r...

AI Technical Summary

Problems solved by technology

The existing controllers in the market generally have the following problems: single function, few interfaces, and low module accuracy

This in turn leads to problems such as difficult selection of robot hardware and complicated wiring.

In addition, the high-speed switching solenoid valve driven by the pneumatic muscle has high requirements on the amplification frequency of the drive board. Generally, the circuit board of the solenoid valve driver uses an optocoupler chip as a switch, which has a problem of low frequency, and can only receive input frequency of no more than 20Hz. The PWM signal is far from meeting the requirements of the solenoid valve, resulting in poor control of the pneumatic muscles, making it difficult to control the robot system composed of pneumatic muscles

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