This paper presents a novel pneumatic generator based on the catalytic decomposition of hydrogen peroxide for producing the pressurized gas for mobile robotic systems driven by pneumatic actuators, thus replacing portable air compressors driven by electric motors. By adopting a pressure feedback mechanism, hydrogen peroxide is autonomously self-injected into the catalytic reactor without the use of additional injection mechanisms such as electric micro pumps. Additionally, the dynamic behavior of pressure generation is illustrated by both an analytic model and experiments. It is experimentally demonstrated that the proposed system has a considerably higher power density than a battery and electrical motor system.

Related reference

[1] K.-R. Kim, K.-S. Kim, and S. Kim, ”Controllable pneumatic generator based on the catalytic decomposition of hydrogen peroxide,” Review of Scientific Instruments, vol. 85, p. 075109, 2014.

[2] K.-R. Kim, Y. J. Shin, K.-S. Kim, and S. Kim, ”Application of chemical reaction based pneumatic power generator to robot finger,” in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 4906-4911.

[3] Y.-P. Hong, D. Koo, J.-i. Park, S. Kim, and K.-S. Kim, ”The SoftGait: A simple and powerful weight-support device for walking and squatting,” in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015, pp. 6336-6341.




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