Theory Application
Theory Application
Soft Robotic Actuation Principle
Pneumatic Actuation:
Pneumatic actuation happens by converting the energy of compressed air into mechanical motion. Different industries widely use it for various purposes [1]. It is very popular in the automation industry and is heavily used in soft robotics. Pneumatic actuation is achieved via syringes, air pumps, etc., to actuate an object. For our project, we are using pneumatic actuation in the form of a mini air pump.
Additional Concepts
Speed and Distance:
Speed is the distance an object or particle moves within a set amount of time. Scientists have determined the speed of sound to be approximately 343 m/s. By taking advantage of this known constant, sensors based on sound can be utilized to calculate distances. In this example, the ultrasonic signal sends a short, high-frequency sound and reports the time it takes for an echo of this signal to be received. This provides a simple formula that can be used for the distance between an object and the sensor. For this case, the sound is travelling twice the distance since the reflection is recorded.
Speed = Distance/Time
Distance = Speed x Time
Actual Distance = (Speed x Time)/2
Semiconductors control the flow of current in a circuit. Diodes are the simplest type of semiconductor. When applied with adequate forward voltage, the diode allows current to flow in a single direction. These devices can protect more sensitive components from current spikes.
Bipolar junction transistors (BJT) can be utilized as a switch to allow or impede the flow of current. These semiconductors “open” when the proper voltage is supplied to the gate, and can be “closed” to stop the flow. This is fundamental for pulse width modulation (PWM) for controlling the supplied voltage.
References
[1]“What are Pneumatic Actuators,” Measurement Products. https://new.abb.com/products/measurement-products/measurement-products-blog/what-are-pneumatic-actuators