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Design of a soft pheumatic oscillator
Thesis (MEng)--Stellenbosch University, 2020.
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| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University.
2020
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| _version_ | 1867614128665788416 |
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| access_status_str | Open Access |
| author | Vegter, Johannes Roelf |
| author2 | Venter, Martin P. |
| author_browse | Vegter, Johannes Roelf Venter, Martin P. |
| author_facet | Venter, Martin P. Vegter, Johannes Roelf |
| author_sort | Vegter, Johannes Roelf |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University. |
| description | Thesis (MEng)--Stellenbosch University, 2020. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/108237 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:47:07.138Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2020 |
| publishDateRange | 2020 |
| publishDateSort | 2020 |
| publisher | Stellenbosch : Stellenbosch University. |
| publisherStr | Stellenbosch : Stellenbosch University. |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/108237 Design of a soft pheumatic oscillator Design a soft robot capable of salamander-like locomotion Vegter, Johannes Roelf Venter, Martin P. Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. Soft robotics Pneumatic oscillator Electronic controllers Oscillators, Electric Robots -- Locomotion -- Design Locomotion -- Design UCTD Thesis (MEng)--Stellenbosch University, 2020. ENGLISH ABSTRACT: The field of soft robotics and more specifically flexible fluidic actuators makes use of conventional control systems that are usually tethered and cumbersome. This project followed a systems engineering approach to produce a soft robotic focused controller that aims to address the shortcomings of conventional controllers used for soft robots. The conceptual design stage identified flexible fluidic actuators as technology in need of a controller to increase robustness, reduce inputs, and increase simplicity. The type of controller identified was an oscillator, which takes inspiration from central pattern generators that are seen as a biological oscillator used to control rhythmic motions. Finally, the conceptual design identified the directional control valve and soft valve as two controller technologies that can produce a soft robot focused oscillator. The oscillator should be able to produce two oscillating outputs from a single constant input, with the frequency of the oscillations proportional to the magnitude of the input. In the preliminary design stage, the oscillator technologies were evaluated in terms of their functionality and manufacturability. A design of each concept was made and evaluated with regards to three mechanisms namely switching, latching and flow control. These mechanisms were identified to be necessary to produce two oscillating outputs. Both designs produced functional mechanisms, but the directional control valve does not satisfy the manufacturability criteria. In the detail design stage, a soft valve oscillator was design and evaluated. The oscillator was found to be functional, producing two asynchronously oscillating outputs from a single constant supply pressure, with the frequency of the oscillations dependant on the magnitude of the supply pressure. AFRIKAANSE OPSOMMING: Die veld van sagte robotika en meer spesifiek buigsame vloeistofaktuators maak gebruik van konvensionele beheerstelsels wat gewoonlik vasgemaak en omslagtig is. Hierdie projek het ’n stelselingenieurswese benadering gevolg om ’n sagte robot-gefokusde beheerder te vervaardig wat daarop gemik is om die tekortkominge van konvensionele beheerders wat vir sagte robots gebruik word, aan te spreek. Die konseptuele ontwerpstadium identifiseer buigsame vloeistofaktuators as ’n tegnologie wat ’n beheerder nodig het om robuustheid te verhoog, insette te verminder en eenvoud te verhoog. Die tipe beheerder wat geïdentifiseer is, is ’n ossillator wat inspirasie verkry uit sentrale patroongenerators wat gesien word as ’n biologiese ossillator wat gebruik word om ritmiese bewegings te beheer. Laastens identifiseer die konseptuele ontwerp die rigtingreëlingskontroleklep en sagte klep ten opsigte van beheertegnologieë wat ’n sagte robot gefokusde ossillator kan produseer. Die ossillator moet in staat wees om twee ossilerende uitsette vanaf ’n enkele konstante inset te lewer, met die frekwensie van die ossillasies afhanklik van die grootte van die inset. In die voorlopige ontwerpstadium word die ossillatortegnologieë beoordeel aan die hand van hul funksionaliteit en vervaardigbaarheid. ’n Ontwerp van elke konsep word gemaak en geëvalueer met betrekking tot drie meganismes, naamlik skakel, vashou en vloeibestuur. Daar word geïdentifiseer dat hierdie meganismes nodig is om twee ossillerende uitsette te lewer. Albei ontwerpe lewer funksionele meganismes, maar die rigtingreëlingsklep voldoen nie aan die vervaardigbaarheidskriteria nie. In die detailontwerpstadium word ’n sagte klep-ossillator ontwerp en beoordeel. Dit blyk dat die ossillator funksioneel is, en lewer twee asinchronies ossilerende uitsette vanaf ’n enkele konstante toevoerdruk, met die frekwensie van die ossillasies afhanklik van die grootte van die toevoerdruk. Masters 2020-02-26T10:51:30Z 2020-04-28T12:27:02Z 2020-02-26T10:51:30Z 2020-04-28T12:27:02Z 2020-03 Thesis http://hdl.handle.net/10019.1/108237 en_ZA Stellenbosch University. x, 111 pages : illustrations application/pdf Stellenbosch : Stellenbosch University. |
| spellingShingle | Soft robotics Pneumatic oscillator Electronic controllers Oscillators, Electric Robots -- Locomotion -- Design Locomotion -- Design UCTD Vegter, Johannes Roelf Design of a soft pheumatic oscillator |
| title | Design of a soft pheumatic oscillator |
| title_full | Design of a soft pheumatic oscillator |
| title_fullStr | Design of a soft pheumatic oscillator |
| title_full_unstemmed | Design of a soft pheumatic oscillator |
| title_short | Design of a soft pheumatic oscillator |
| title_sort | design of a soft pheumatic oscillator |
| topic | Soft robotics Pneumatic oscillator Electronic controllers Oscillators, Electric Robots -- Locomotion -- Design Locomotion -- Design UCTD |
| url | http://hdl.handle.net/10019.1/108237 |
| work_keys_str_mv | AT vegterjohannesroelf designofasoftpheumaticoscillator AT vegterjohannesroelf designasoftrobotcapableofsalamanderlikelocomotion |