Pneumatic Element Graphs for Realistic Suction Cup Modeling
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Solution Overview
Problem
Conventional pneumatic system modeling for robotic manipulators lacks realism, particularly in simulating suction pressures and interdependencies between suction cups, leading to inefficiencies in development and control of pneumatic systems.
Innovation Solution
A pneumatic modeling system that generates a pneumatic element graph to simulate suction cup interactions, using solvers to iteratively determine pressure values, allowing for realistic grasping behavior and rapid development of pneumatic-related algorithms and hardware configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional pneumatic system modeling is used, then the model structure is simple, but the simulation realism is poor and cannot accurately capture suction cup interdependencies
Solution Approach 1:
The pneumatic system is segmented into multiple independent suction cups, each modeled as a separate node in the graph. Each suction cup is represented by a node with associated parameters (area, volume, resistance), and the connections between them are represented by edges. This segmentation allows the complex interdependent behavior of multiple suction cups to be captured through a modular graph structure, improving simulation realism while maintaining manageable model complexity.
Solution Approach 2:
The patent introduces a graph data structure as an intermediary representation between the physical pneumatic system and the computational model. The graph serves as a mediator that translates the physical relationships (suction cup connections, air flow paths) into a computational format that can be efficiently processed. This intermediary structure enables accurate simulation of interdependencies without directly modeling every physical detail, thus improving realism while controlling complexity.
2Measurement precision
If simplified pneumatic modeling is used, then the development time is short, but the accuracy of suction pressure simulation is insufficient
Solution Approach 1:
The patent performs preliminary actions by pre-defining the graph structure and parameters before actual simulation runs. The graph is built in advance with all necessary nodes (suction cups), edges (connections), and parameters (area, volume, resistance) already configured. This preliminary setup allows for rapid simulation execution without needing to reconfigure the model for each test case, thus achieving high pressure simulation accuracy while minimizing development time through reuse of the pre-built graphical model.
Solution Approach 2:
The model accurately simulates suction pressure dynamics by dynamically adjusting parameters such as resistance, volume, and area based on the operational state of each suction cup. The system changes parameters in response to varying conditions (e.g., cup activation status, air flow rates), enabling precise pressure simulation. This dynamic parameter adjustment allows the model to maintain high accuracy across different operating conditions without requiring extensive development time for each specific scenario.
3Reliability
If detailed pneumatic system simulation is performed, then the grasping behavior is realistic, but the computational time increases
Solution Approach 1:
The pneumatic system is divided into discrete, independent suction cup units, each represented as a separate node in the graph. This segmentation allows the complex grasping behavior to be simulated through parallel computation of individual cup responses. Each suction cup can be processed independently using the same computational framework, enabling realistic grasping simulation while maintaining computational efficiency through parallelization and modular processing.
Solution Approach 2:
The model incorporates dynamic behavior by allowing the graph structure and parameters to change in real-time based on suction cup activation states and air flow conditions. The system dynamically adjusts resistance values, volume changes, and pressure distributions according to the operational state. This dynamic approach enables realistic simulation of grasping behavior while using efficient computational methods to update the model state, balancing accuracy with computational speed.
Data Source
AI summary
A pneumatic element graph of a pneumatic system can be accessed. The pneumatic system may include a set of pneumatic components. A set of input controls may be received. The set of input control elements may correspond to at least one of i) an operational command of at a first pneumatic component of the set of pneumatic components, or ii) a geometric feature of a second pneumatic component of the set of pneumatic components. A set of pressure states may be determined for at least one pneumatic component of the set of pneumatic components based at least in part on previous pressure states of the at least one pneumatic component. An operational sequence of the pneumatic system using the previous pressure states may be performed.