| The execution system of the omnidirectional,soft-bodied,peristaltic sorting table is the key part for the targeted transportation and simultaneous sorting of objects.At present,the use of robotic arms is a common approach to manipulate objects.This technique is,however,limited by the type of end effector and the size of the arm.Therefore,this paper presents a novel omnidirectional,soft-bodied,peristaltic sorting table,the design of the execution system is mainly introduced.Firstly,this paper proposed the whole design plan of the omnidirectional,soft-bodied,peristaltic sorting table.Based on the analysis of the movement of the objects on the table,this paper presented the design of the execution system from four aspects including themechanical structure,pneumatic system,and hardware and software.Secondly,a prototype of the table's soft actuators has been designed and fabricated.We proposed a novel double-layer,multi-channel soft pneumatic actuator that can achieve multiple motions.Based on the technical requirements,the structure and size of this soft pneumatic actuator is optimized,the relationship between design variable and objective function is established.Then,a FEM approach is used to predict the specific performance of the soft actuator,we obtained the movement patterns of this actuator.Thirdly,based on the single execution module's hardware system,the hardware system of the whole execution system is designed,which includes the I/O extension module,the AD extension module,the interrupt extension module and the CAN communication module.Forthly,we developed the whole execution system's software system.Based on the control task,the Control process of the the whole execution system and the corresponding control procedures is designed.Finally,a prototype of soft machine table is assembled and tested.The experimental results show that the single execution module can realize the expected movement,the hardware&software can meet the demand of system function. |
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