A General Pneumatic Muscle Embedded Controller

Abstract

The invention discloses a universal pneumatic muscle embedded controller, comprising a control layer, a driving layer, and a sensing layer which are interconnected. The control layer is responsible for receiving the measurement data of the sensing layer and transmitting a control signal to the driving layer. The driving layer comprises a PWM signal amplifying circuit and a high speed switching valve. The input end of the PWM signal amplifying circuit is connected to a PWM output module of the control layer, and receives PWM signals generated by the PWM output module. The output of the PWM signal amplifying circuit is connected to the high speed switching valve. The circuit structure of the PWM signal amplifying circuit is a form in which a follower and a switching transistor are connectedin series, and does not use an optocoupler switch, and is simple and can receive higher frequency input signals. The universal pneumatic muscle embedded controller realizes the integration of control,driving and sensing, and a frequency output of 200 Hz by designing a driving board, which is 10 times higher than that of a conventional driver, and ensures that two PWM signals are not issued at thesame time to avoid conflicts by using a logic module.

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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