phloSAR is introduced as a solution to the portability issue faced by pneumatic soft robots due to tethering to heavy air compressors. The system leverages high-flow proportional valves, an integrated pressure reservoir, and Venturi vacuum generation for dynamic performance. Models are presented to describe system dynamics, experimentally validated, and discussed in terms of design parameters' influence on system operation. The phloSAR prototype is integrated with a soft robot arm mounted on an aerial vehicle to demonstrate its applicability in mobile robotics. The system enables untethered pneumatic supply and regulation for a wider range of soft robots.
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arxiv.org
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by Maxwell Ahlq... ב- arxiv.org 03-05-2024
https://arxiv.org/pdf/2403.01086.pdfשאלות מעמיקות