Vanyori:  (1) Jorge Francisco Garcia-Samartın, Center for Automation uye Robotics (UPM-CSIC), Polytechnic University of Madrid - Higher Council yeScientific Research, Jose Gutierrez Abascal 2, 28006 Madrid, Spain (jorge.gsamartin@upm.es);  (2) Adrian Rieker, Center for Automation uye Robotics (UPM-CSIC), Polytechnic University yeMadrid - Higher Council yeScientific Research, Jose Gutierrez Abascal 2, 28006 Madrid, Spain;  (3) Antonio Barrientos, Center for Automation uye Robotics (UPM-CSIC), Polytechnic University yeMadrid - Higher Council yeScientific Research, Jose Gutierrez Abascal 2, 28006 Madrid, Spain.  Table of Links   Abstract uye 1 Sumo  2 Mabasa Anoenderana   2.1 Pneumatic Actuation   2.2 Pneumatic Arms   2.3 Kudzora kweMarobhoti Akapfava  3 PAUL: Dhizaini uye Kugadzira   3.1 Robhoti Dhizaini   3.2 Kusarudzwa kwezvinhu   3.3 Kugadzira   3.4 Performance Bank  4 Kutora data uye Open-Loop Control   4.1 Hardware Setup   4.2 Vision Capture System   4.3 Dataset Generation: Tafura-Yakavakirwa Models   4.4 Vhura-Loop Kudzora  5 Migumisiro   5.1 Yekupedzisira PAUL vhezheni   5.2 Kuongorora nzvimbo yebasa   5.3 Kuita kweTable-Based Models   5.4 Kupeta Maedzo   5.5 Weight Kutakura Maedzo   6 Mhedziso   Ruzivo Rwemari   A. Zvakaitwa Kuedza uye References  2 Mabasa Anoenderana  2.1 Pneumatic Actuation  Kune akawanda mikana yekugadzira nekugadzira pneumatic actuators. Sezvinowanzoitika mumarobhoti akapfava, bio-inspired actuators iripo. Mu [21], actuator inoratidzwa iyo inosanganisa zvese pneumatics uye tendon kutevedzera uye kuedza kutevedzera maitiro eoctopus ruoko. Zvakafanana mukushanda kwekupedzisira, kunyange zvakafuridzirwa nemunwe wemunhu, zvinogona kuonekwa sebasa re [22]. Izvi zvinosanganisira matatu-dimensional mavharuvhu anozvimba, nokudaro achitevedzera mafambiro e phalanges.  Nekudaro, iyo inonyanya kuzivikanwa bio-yakafuridzirwa pneumatic actuators ndeye Pneumatic Artificial Muscles (PAMs). Izvo zvinoenderana nekuwana kuwedzera kana kuderedzwa kwekamuri yepneumatic, yakafanana neyemhasuru. Madziro ekamuri yacho anowanzo kugadzirwa ne membrane yakaonda uye inochinjika, iyo inogonesa kuremara kwakakura nekuyerera kwemhepo kudiki kunounzwa [23]. Kunyange zvazvo mamwe majekiseni achirebesa kureba pakukwira kwemitengo [24], nzira yakatekeshera inosanganisira kushandisa tsandanyama dzeMcKibben, dzinosanganisira dundira rinopinzwa mumambure akarukwa anokonesa kufamba kwedundira parinoputika, richigadzira kuputika kwese [25]. Ruoko rwezvikamu zviviri zvePAM rakagadzirwa uye rakateedzerwa mu [26].  Imwe nzira yakawana kukosha kwakanyanya mumakore achangopfuura ndeye Pneunet-type actuators, yakatanga kuunzwa mu [27]. Manipulators anoshandisa rudzi urwu rwechiito anosanganisira yakagadziriswa danda mhando chimiro uye, mune dzimwe nguva, zvimwe zvinhu zvekuoma kwakasiyana. Yakave ichishandiswa zvakanyanya kune grippers [28, 29], magirovhosi akapfava [30] uye kutevedzera nhengo dzemuviri wemunhu [31].  Vanyori vakasiyana vakakurudzira evolutions kune iyi chimiro. Kukwenenzverwa kweiyo geometry kunoitwa pa [32], nepo [33] inopa PneuFlex actuator, iyo yakashandura pfungwa yePneunet nekuita kuti danda rive nemuchinjiko-chikamu. Kune rumwe rutivi, mabasa e [34] uye [35] anoratidza kuti zvinogoneka sei kugadzira zvikamu zvepneumatic zvichibva pane ino actuator ine bidirectional bending.  Jamming, yakatanga kushandiswa kune yakapfava grippers [36] inogona zvakare kushandiswa kugadzira manipulators muchimiro chematanda [37]. Basa ravo ndiro reverse reiyo pneumatics: mumamiriro avo echisikigo ivo vakakotama uye, kana kudzvinyirira kwakashata kunoshandiswa, vanoomesa. Mu [38], chikamu chakadhindwa cheTPU panogona kuiswa dzvinyiriro kana vacuum, chinounzwa.  2.2 Pneumatic Arms  Mukuwedzera kune dhizaini yemagetsi, pneumatic soft robotics inofanirwa kutarisana nedambudziko rekubatanidzwa kwavo kwekuvakwa kwemaoko ane madhigirii akasiyana erusununguko. Nepo mamwe ebasa rekare, senge [26], achiita zvombo zvidiki, dzimwe nzira dzinoverengeka dzakagadzirwa pakuvaka manipulators.  Sarudzo yekutanga inzira dzakasanganiswa, umo zvese zvakaomarara uye zvakapfava zvinhu zvinosanganiswa, izvo zvinoita kuti zvikwanise kuwana yakagadzikana nzira nenzira iri nyore. Muenzaniso weizvi unogona kuwanikwa mubasa [39], umo mapeya ePAM anopikisa anoshandiswa kufambisa ruoko rwakaoma rwedanda rine madhigirii manomwe erusununguko. Nzira yakafanana zvikuru inoteverwa mu [40]. Kuti robhoti risakonzerese kukuvadza kuvanhu, maoko anofema anowedzerwa paruoko.  Mu [41], chikamu chepneumatic chine mabhesi akaomarara chinogadzirwa. Izvi zvinosanganisira machubhu matanhatu ayo, nekuda kweiyo geometry, kana akazara mumapoka evatatu, anobvumira gungano kuti ritenderere paaxis perpendicular kune zvigadziko. Kunyangwe ruoko rwese robhoti rusina kugadzirwa saizvozvo, asi chikamu cheimwe dhigirii yerusununguko, inosanganiswa mune yakapfava zvachose robhoti ruoko. Vanyori vamwechete vakambogadzira ruoko rwerobhoti rwemadhigirii matanhatu-e-rusununguko kubva pamasendimita masere-akareba, anokwanisa kusimudza mitoro inosvika 3 kg [42].  Basa re [43], kune rumwe rutivi, rinopa origami robhoti ruoko rwakagadzirwa neTPU. Izvi zvakaputirwa uye zvakasvibiswa nepneumatic actuation, asi nzvimbo yaro inodzorwa nematendon ayo, nepo achidzikisa pasi sisitimu, inoita kuti inyatsojeka. Pakati pemarobhoti akadhindwa e3D, [44] inopa chikamu che-madhigirii matatu-e-rusununguko, chine mafambiro anowanikwa kuburikidza nekuputira kana kudzikisira imwe kana anopfuura emachubhu ayo matatu epneumatic. Iyo ine zvakare tambo dzinotamba chinzvimbo cheanopikisa uye kuomesa mafambiro eiyo manipulator. Nheyo yekushanda kwayo yakafanana neyebasa re [1].  Zvakare zvichibva pahuzivi hwemarobhoti anogona kudhindwa uye anogona kutumirwa, [45, 46] inopa Honeycomb Pneumatic Network (HPN) ruoko. Yakavakwa nekubatanidza TPU huchi zvimiro, imwe neimwe iine airbag mukati. Maprototypes akati wandei anoratidzwa mubepa, imwe yacho inogona kusvika kureba 600 mm mushure mekubatanidza zvikamu zvina pamwechete. Kunyange zvazvo zvikomborero zvayo zvakawanda zvinokurukurwa, zvinopa dambudziko kuti uremu hwayo, pasina kuwedzererwa, hwakakwirira: ruoko, tichifunga nezvemachubhu ose, hunorema 4.4 kg.  Robhoti re[47] rine zvikamu zviviri, chimwe nechimwe chine machubhu matatu epneumatic. Kunyangwe izvi zvichipa zvitanhatu madhigirii erusununguko, vatongi vanongotarisira iyo yepamusoro module, iyo isingatenderi zvinzvimbo zvese nemaitiro kuti zvigadziriswe zvakasununguka.  Iyo STIFF-FLOP manipulator yakaunzwa mu [48]. Izvi zvinosanganisira elastomeric cylinder ine nhevedzano yemakamuri epneumatic mukati, inflation uye deflation iyo inokonzera deformation ye cylinder uye saka kufamba kwerobhoti. Kudzokororwa kwakasiyana-siyana kwekugadzirwa uku kuripo, kwakadai sechikamu che STIFF-FLOP chine mitsipa yakaoma inoratidzwa mu [31].  Mumutsara uyu, SoPrA, inoratidzwa mu [49], inogadzirwa ichibatanidza matatu fiber-reinforced silicone segment, imwe neimwe yakaita senge conical trunk, kuitira kuti kupera kwerobhoti kutete zvakanyanya kupfuura hwaro. Kunyangwe iyo truncated koni chimiro chinobatsira nekuti, sekutaura kwevanyori, zvikamu zvekumusoro zvinoda torque yakawanda uye kubata mamwe machubhu mukati mawo, maitiro ekugadzira anoshandiswa kuita taper anodzivirira zvikamu zvitsva kubva nyore kuwedzerwa kurobhoti.  Mu [50], 3-segment ruoko inovakwa uchishandisa silicone rabha. Chikamu chega chega chakareba 110 mm, chine dhayamita ye45 mm uye, zvinopesana neyakajairwa STIFF-FLOP chimiro, chakashongedzerwa neina inflatable cavities. Izvi zvinoreva kuwedzera kwehuremu uye kuoma kwekutonga, sezvo redundancy ichiwedzerwa kana ichienzaniswa nekuve nemadhigirii matatu chete erusununguko pachikamu.  Iri bepa   pasi peCC BY-NC-SA 4.0 DEED rezinesi. rinowanikwa pa arxiv

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