Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators

Krisjanis Visnevskis; Shakiru Olajide Kassim; Maria Giannaccini; Vahid Vaziri; Sumeet S. Aphale

doi:10.1109/MMAR58394.2023.10242591

Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators

Krisjanis Visnevskis, Shakiru Olajide Kassim, Maria Giannaccini, Vahid Vaziri, Sumeet S. Aphale^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Abstract

Soft pneumatic actuators (SPAs) are the building blocks of soft robots that are characterized by their inherent compliance, high degree of dexterity, and safety in human-robot interaction. The non-linear dynamics of the pneumatic system and elastomeric material deformation in SPAs presents a challenge in developing control systems for these actuators. Therefore simulations are often used to aid in the design and validation of new control schemes for SPAs. Pressure control is an important aspect of achieving precise motion control of the SPA. This paper presents an improved simulation model for a SPA pneumatic system that utilizes a 3/2 solenoid valve. The model was implemented using the SimScape Fluids toolbox in MATLAB. The proposed simulation model builds on existing models by accounting for the 3/2 solenoid valve dynamics. The open-loop response of the improved model was compared with the previous model and experimental data. The results showed that the improved model was more representative of the real-world performance of the system under open-loop control.

Original language	English
Title of host publication	2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR)
Subtitle of host publication	Online Proceedings
Publisher	IEEE Explore
ISBN (Electronic)	979-8-3503-1107-5, 979-8-3503-1106-8
ISBN (Print)	979-8-3503-1108-2
DOIs	https://doi.org/10.1109/MMAR58394.2023.10242591
Publication status	Published - 11 Sept 2023
Event	27th International Conference on Methods and Models in Automation and Robotics - Amber Baltic Hotel, Miedzyzdroje, Poland Duration: 22 Aug 2023 → 25 Aug 2023 http://mmar.edu.pl/

Publication series

Name
ISSN (Print)	2835-2815
ISSN (Electronic)	2835-2807

Conference

Conference	27th International Conference on Methods and Models in Automation and Robotics
Abbreviated title	MMAR 2023
Country/Territory	Poland
City	Miedzyzdroje
Period	22/08/23 → 25/08/23
Internet address	http://mmar.edu.pl/

Keywords

soft pneumatic actuator
simulation model
3/2 solenoid valve

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10.1109/MMAR58394.2023.10242591Licence: Unspecified

Cite this

Visnevskis, K., Kassim, S. O., Giannaccini, M., Vaziri, V., & Aphale, S. S. (2023). Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators. In 2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR): Online Proceedings Article 6073 IEEE Explore. https://doi.org/10.1109/MMAR58394.2023.10242591

Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators. / Visnevskis, Krisjanis; Kassim, Shakiru Olajide; Giannaccini, Maria et al.
2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR): Online Proceedings. IEEE Explore, 2023. 6073.

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Visnevskis, K, Kassim, SO, Giannaccini, M , Vaziri, V & Aphale, SS 2023, Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators. in 2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR): Online Proceedings., 6073, IEEE Explore, 27th International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 22/08/23. https://doi.org/10.1109/MMAR58394.2023.10242591

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abstract = "Soft pneumatic actuators (SPAs) are the building blocks of soft robots that are characterized by their inherent compliance, high degree of dexterity, and safety in human-robot interaction. The non-linear dynamics of the pneumatic system and elastomeric material deformation in SPAs presents a challenge in developing control systems for these actuators. Therefore simulations are often used to aid in the design and validation of new control schemes for SPAs. Pressure control is an important aspect of achieving precise motion control of the SPA. This paper presents an improved simulation model for a SPA pneumatic system that utilizes a 3/2 solenoid valve. The model was implemented using the SimScape Fluids toolbox in MATLAB. The proposed simulation model builds on existing models by accounting for the 3/2 solenoid valve dynamics. The open-loop response of the improved model was compared with the previous model and experimental data. The results showed that the improved model was more representative of the real-world performance of the system under open-loop control.",

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AU - Visnevskis, Krisjanis

AU - Kassim, Shakiru Olajide

AU - Giannaccini, Maria

AU - Vaziri, Vahid

AU - Aphale, Sumeet S.

PY - 2023/9/11

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N2 - Soft pneumatic actuators (SPAs) are the building blocks of soft robots that are characterized by their inherent compliance, high degree of dexterity, and safety in human-robot interaction. The non-linear dynamics of the pneumatic system and elastomeric material deformation in SPAs presents a challenge in developing control systems for these actuators. Therefore simulations are often used to aid in the design and validation of new control schemes for SPAs. Pressure control is an important aspect of achieving precise motion control of the SPA. This paper presents an improved simulation model for a SPA pneumatic system that utilizes a 3/2 solenoid valve. The model was implemented using the SimScape Fluids toolbox in MATLAB. The proposed simulation model builds on existing models by accounting for the 3/2 solenoid valve dynamics. The open-loop response of the improved model was compared with the previous model and experimental data. The results showed that the improved model was more representative of the real-world performance of the system under open-loop control.

AB - Soft pneumatic actuators (SPAs) are the building blocks of soft robots that are characterized by their inherent compliance, high degree of dexterity, and safety in human-robot interaction. The non-linear dynamics of the pneumatic system and elastomeric material deformation in SPAs presents a challenge in developing control systems for these actuators. Therefore simulations are often used to aid in the design and validation of new control schemes for SPAs. Pressure control is an important aspect of achieving precise motion control of the SPA. This paper presents an improved simulation model for a SPA pneumatic system that utilizes a 3/2 solenoid valve. The model was implemented using the SimScape Fluids toolbox in MATLAB. The proposed simulation model builds on existing models by accounting for the 3/2 solenoid valve dynamics. The open-loop response of the improved model was compared with the previous model and experimental data. The results showed that the improved model was more representative of the real-world performance of the system under open-loop control.

KW - soft pneumatic actuator

KW - simulation model

KW - 3/2 solenoid valve

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M3 - Published conference contribution

SN - 979-8-3503-1108-2

BT - 2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR)

PB - IEEE Explore

T2 - 27th International Conference on Methods and Models in Automation and Robotics

Y2 - 22 August 2023 through 25 August 2023

ER -

Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators

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