Flexible Robot Actuator Calibration Using Vision and Pneumatic Loading
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Solution Overview
Problem
Current calibration methods for flexible robot actuators are prone to errors due to manual operation and yield inconsistent data, making it difficult to accurately determine the relationship between input pneumatic pressure and output displacement, angle, and force response.
Innovation Solution
An automated calibration system comprising a support frame with a visual positioning system, pressure measuring system, and pneumatic pressure control system, which includes cameras, motors, and a pressure gauge to measure and record displacements, angles, and pneumatic pressures, allowing for precise calibration of the flexible actuator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration methods are used (output displacement-based or maximum force-based), then the calibration process can be performed with simple equipment, but the measurement accuracy and data consistency deteriorate due to manual operation errors
Solution Approach 1:
The patent replaces manual mechanical measurement operations with an automated visual positioning system using cameras and image processing. The camera system captures images of marking points on the actuator, and computer vision algorithms automatically calculate displacement and angle data, eliminating manual measurement errors and improving calibration accuracy without requiring complex manual intervention
Solution Approach 2:
The calibration system performs self-measurement and self-calibration through automated data acquisition and processing. The visual positioning system automatically tracks the actuator's movement and calculates calibration parameters without human intervention, enabling the system to calibrate itself accurately and consistently
2Adaptability or versatility
If multiple different calibration methods are used to obtain various output properties, then comprehensive actuator characteristics can be obtained, but data consistency and comparability deteriorate due to method differences
Solution Approach 1:
The patent implements a universal calibration system that can measure multiple output properties (displacement, angle, position) using a single integrated visual positioning system. The camera system and image processing algorithms provide a unified measurement approach that consistently captures all actuator characteristics, ensuring data consistency and comparability across different calibration parameters while maintaining comprehensive calibration coverage
3Productivity
If automated calibration system is implemented with multiple measurement systems and control systems, then calibration accuracy and efficiency are improved, but the device complexity and cost increase
Solution Approach 1:
The patent merges the visual positioning system, pressure measurement system, and pneumatic pressure control system into an integrated automated calibration platform. These subsystems work together through centralized control and coordinated data processing, achieving high calibration efficiency and accuracy while managing system complexity through unified architecture and standardized interfaces
Data Source
AI summary
The present disclosure discloses an automated calibration system and calibration method for a flexible robot actuator. The calibration system includes a support frame. A visual positioning system, a pressure measuring system and a pneumatic pressure control system are respectively installed on the support frame. The visual positioning system is configured to measure a relative displacement and an angle between two ends of the flexible actuator. The pneumatic pressure control system is configured to charge air into an actuating end of the flexible actuator and measure an input pneumatic pressure of the flexible actuator. The pressure measuring system includes a pressure gauge installed on the support frame through a vertical axis motor system, and the flexible actuator to be calibrated installed on the support frame through a horizontal axis motor system and a rotating motor system. The rotating motor system is installed on the support frame through the horizontal axis motor system, the actuating end of the flexible actuator is fixed on the rotating motor system, and a free end of the flexible actuator is in contact with a measuring end of the pressure gauge to carry out pressure measurement. The calibration system is high in accuracy and simple to use.