Storage function for passivity analysis of pneumatic actuators with finite heat transfer in human-interactive systems

Venkat Durbha, Perry Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The power density and variable compliance in pneumatic actuators makes them an attractive option for actuation in human assistive devices. Interaction safety in these devices can be robustly achieved through energetically passive controllers. Efficacy of these controllers depends on appropriate definition of actuator energy function. In previous works, the energy function was defined by assuming the thermodynamic process in the actuator to be either isothermal or adiabatic. In the current paper an estimate of work potential suitable for passivity analysis of a single chambered pneumatic actuator with finite heat transfer is reported. The energy function is developed by maximizing the work done on the actuator to reach an equilibrium position. Optimal conditions show that the maximal solution is attained if the thermodynamic process is a combination of adiabatic and isothermal processes. Through this storage function it is shown that the heat transfer has dissipative affect on the power flow in the pneumatic actuator, irrespective of the chamber air temperature.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages769-777
Number of pages9
DOIs
StatePublished - Dec 1 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume1

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

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