ABB DSCA125A 57520001-CY 脉冲控制板备件

　　这个四足软机器人不需要任何电子设备来工作——只需要一个恒定的加压空气源来完成它的所有功能，包括它的控制和运动系统。应用包括可以在电子设备无法运行的环境中运行的机器人，例如 MRI 机器或矿井。软机器人特别受关注，因为它们很容易适应环境并在人类附近安全运行。

　　大多数软体机器人由加压空气驱动，并由电子电路控制；然而，这种方法需要复杂的组件，如电路板、阀门和泵，通常在机器人身体之外。相比之下，新机器人由轻型、低成本的气动回路系统控制，该系统由机器人本身的管道和软阀组成。机器人可以根据指令行走，也可以响应从环境中感知到的信号。

　　机器人的计算能力大致模仿了哺乳动物的反射，这些反射是由脊柱而不是大脑的神经反应驱动的。为了模仿这些反射，创建了一个阀门系统，该系统充当一组振荡器，控制加压空气进入机器人四肢气动肌肉的顺序。一个组件通过延迟将空气注入机器人腿部来协调机器人的步态。

　　该机器人还配备了简单的机械传感器——充满液体的小软气泡放置在从机器人身体伸出的吊杆末端。当气泡被压下时，流体会翻转机器人中的阀门，使其反向。该机器人配备了三个阀门作为逆变器，使高压状态在气动电路周围传播，每个逆变器都有延迟。

　　机器人的四条腿中的每一条都具有由三块肌肉驱动的三个自由度。支腿向下倾斜 45 度，由三个平行的、连接的、带有波纹管的圆柱形气室组成。当腔室加压时，肢体向相反方向弯曲。结果，每个肢体的三个腔室提供行走所需的多轴弯曲。

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　　主营：世界品牌的PLC 、DCS 系统备件 模块

　　①Allen-Bradley(美国AB)系列产品》

　　②Schneider(施耐德电气)系列产品》

　　③General electric(通用电气)系列产品》

　　④Westinghouse(美国西屋)系列产品》

　　⑤SIEMENS(西门子系列产品)》

　　⑥销售ABB Robots. FANUC Robots、YASKAWA Robots、KUKA Robots、Mitsubishi Robots、OTC Robots、Panasonic Robots、MOTOMAN Robots。

　　⑦estinghouse(西屋)： OVATION系统、WDPF系统、MAX1000系统备件。

　　⑧Invensys Foxboro(福克斯波罗)：I/A Series系统，FBM(现场输入/输出模块)顺序控制、梯形逻辑控制、事故追忆处理、数模转换、输入/输出信号处理、数据通信及处理等。Invensys Triconex: 冗余容错控制系统、基于三重模件冗余(TMR)结构的现代化的容错控制器。

　　⑨Siemens(西门子)：Siemens MOORE， Siemens Simatic C1，Siemens数控系统等。

　　⑩Bosch Rexroth(博世力士乐)：Indramat，I/O模块,PLC控制器,驱动模块等。

　　◆Motorola(摩托)：MVME 162、MVME 167、MVME1772、MVME177等系列。

　　PLC模块，可编程控制器，CPU模块，IO模块，DO模块，AI模块，DI模块，网通信模块，

　　以太网模块，运动控制模块，模拟量输入模块，模拟量输出模块，数字输入模块，数字输出

　　模块，冗余模块，电源模块，继电器输出模块，继电器输入模块，处理器模块。

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　　This four-legged soft robot needs no electronics to work — only a constant source of pressurized air for all its functions including its controls and locomotion systems. Applications include robots that can operate in environments where electronics cannot function such as MRI machines or mine shafts. Soft robots are of particular interest because they easily adapt to their environment and operate safely near humans.

　　Most soft robots are powered by pressurized air and are controlled by electronic circuits; however, this approach requires complex components like circuit boards, valves, and pumps, often outside the robot’s body. By contrast, the new robot is controlled by a lightweight, low-cost system of pneumatic circuits, made up of tubes and soft valves onboard the robot itself. The robot can walk on command or in response to signals it senses from the environment.

　　The robot’s computational power roughly mimics mammalian reflexes that are driven by a neural response from the spine rather than the brain. To mimic these reflexes, a system of valves was created that acts as a group of oscillators, controlling the order in which pressurized air enters air-powered muscles in the robot’s four limbs. A component coordinates the robot’s gait by delaying the injection of air into the robot’s legs.

　　The robot is also equipped with simple mechanical sensors — little soft bubbles filled with fluid placed at the end of booms protruding from the robot’s body. When the bubbles are depressed, the fluid flips a valve in the robot that causes it to reverse direction. The robot is equipped with three valves acting as inverters that cause a high-pressure state to spread around the air-powered circuit, with a delay at each inverter.

　　Each of the robot’s four legs has three degrees of freedom powered by three muscles. The legs are angled downward at 45 degrees and composed of three parallel, connected, pneumatic cylindrical chambers with bellows. When a chamber is pressurized, the limb bends in the opposite direction. As a result, the three chambers of each limb provide multi-axis bending required for walking.