Coordination of Parallel Arrays of Binary Actuators
The objective of this study is the examination of the design and control opportunities presented by large arrays of small, simple actuators acting in parallel. An array of two-state actuators, i.e. a bundle of binary actuators acting in parallel, can be regarded as a simplified model of biological muscle. An experimental parallel array system composed of a large number of pneumatic cylinders connected between an output member and base has been constructed. Each cylinder can be either set as on or off. The parallel array is viewed as a progranunable force generator, rather than as a motion generator. In this paper, we will discuss the wrench workspace generated by the prototype parallel array and also present an efficient method for controlling the wrench generation.
KeywordsParallel Array Pneumatic Cylinder Hopfield Network Discrete Convolution Actuation Unit
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