University of Twente Student Theses
Control of a Pneumatically Driven Robot Arm and the Design of a Modular Motor Controller
Bac, M.J. (2024) Control of a Pneumatically Driven Robot Arm and the Design of a Modular Motor Controller.
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| Full Text Status: | Access to this publication is restricted |
| Embargo date: | 5 July 2025 |
| Abstract: | For examining whether someone has for example breast or prostate cancer, a biopsy can be used, a procedure in which a small amount of tissue is extracted from the body for further examination. To improve the accuracy of a biopsy, multiple MRI-safe pneumatic robots have already been developed. This research focuses on a new six-axis pneumatic robot arm, which uses only eight pneumatic tubes, as each tube is shared among three motors. Software was made that controls the robot in either a sequential or simultaneous way. A miniature, hand-moveable robot arm was con- nected to the controller which provides input angles that the robot arm should copy. The control strategies were tested on a newly designed, modular Arduino PCB shield. The PCB features valve drivers, fibre-based light sensors, a pressure sensor, buttons and toggle switches. The light sensors, which can be used for light-based homing, required a new, smaller 3D design. The PCB needed a minor fix for one trace. The new light sensor design is around three times smaller in area compared to state of the art light sensors and homing was implemented suc- cessfully on one axis. The robot was able to copy the orientation of the miniature arm using sequential control with acceleration. However, the simultaneous control strategy skipped steps and more calibration is needed to translate the analog miniature arm values into position, as the angles show some deviation. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 44 medicine, 50 technical science in general, 53 electrotechnology |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/101454 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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