Development and control of a flexible actuation-based delta robot | |
| Author | Fernando, Yasiru Suharshana |
| Call Number | AIT Thesis no.ISE-22-06 |
| Subject(s) | Robots Actuators Muscles |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | Soft Robotics is a novel branch of Robotics that has emerged in the recent past. The utilization of soft materials rather than traditional rigid materials has allowed the operation of these robots to become safer and more human centered. This thesis aims to develop a Delta Robot with flexible actuation to further the research carried out for soft robotic development. To obtain Delta Robot like behaviour which requires extension of the actuator, the Reverse Pneumatic Artificial Muscle (RPAM) was used in this thesis as the type of flexible actuator. Developed with latex rubber tubes and inextensible fiber wrappings, this type of actuator has a high pressure to length increment ratio and is convenient to be fabricated. Furthermore, as compared to other types of flexible actuators, the RPAM provides a nearly linear relationship between pressure and strain. The robot developed in this thesis utilizes three RPAM actuators powered by compressed air to achieve a hemispherical space of radius 12.37cm and variation angle of 31o . PID control was used to regulate the actuation profiles of the solenoid valves which regulates the pressure within the actuators. Through the use of a Look-Up Table, the robot can be commanded to move to a pre-recorded position to successfully perform pick and place operations. |
| Year | 2022 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bora, Tanujjal |
| Scholarship Donor(s) | AITAA Sri Lanka Chapter;Asian Institute of Technology Scholarships |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2022 |