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A fast opto-pneumatic converter for robot actuation

机译:一种用于机器人致动的快速光动气动转换器

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Outlines a device under development at UMIST. The converter is based on the transition between laminar and turbulent flow. A smooth pneumatic beam is injected into a cylindrical cell through an emitting tube, and is adjusted so that the emitted flow remains laminar up to a collecting tube. With this arrangement, a pressure is built up in the collecting tube due to the entry of the laminar flow beam. The laminar flow may be disturbed by an acoustic signal at a specific frequency. When the acoustic signal is strong enough, the flow becomes turbulent in the cell, and as most of the flow is then exhausted from side vents before entering the collecting tube, the pressure in the collecting tube is sharply reduced. The optical command signal is modulated at the specific frequency. The energy from the light causes a photodiode to produce a current to drive a piezo disc, and the piezo disc generates the required acoustic signal to control the pressure level in the collecting tube. Both the static and the dynamic performance of the converter have been investigated. The output pneumatic signal can be fed directly to commercial pneumatic amplifiers without offsetting, and thence to standard pneumatic cylinders, etc. The fast response of the actuator to optical modulation frequency, rather than intensity, ensures that it has considerable immunity to intensity drift and stray inputs, and enables proportional control to be implemented by means of gate width modulation.
机译:概述了在Umist下开发的设备。转换器基于层流和湍流之间的过渡。平滑的气孔通过发射管注入圆柱形电池,并调节,使得发射的流量保持层叠到收集管。利用这种布置,由于层流梁的入口,在收集管中建立了压力。层流可以通过特定频率的声学信号扰乱。当声学信号足够强时,流动在电池中变动变动,并且由于大多数流动在进入收集管之前从侧通风口排出,所以收集管中的压力急剧降低。光学指令信号以特定频率调制。来自光的能量使光电二极管产生电流以驱动压电盘,并且压电盘产生所需的声学信号以控制收集管中的压力水平。已经研究了转换器的静态和动态性能。输出气动信号可以直接进入商业气动放大器,而不偏移,从而达到标准气缸等。致动器对光学调制频率的快速响应,而不是强度,确保它对强度漂移和流浪具有相当大的免疫力输入,并通过栅极宽度调制实现比例控制。

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