Characterization and Joint Control Study of Pneumatic Artificial Muscles

Mi, Juncheng; Guo-qin, Huang; Yu, Jin

doi:10.3390/app13021075

Cited by 4 publications

(1 citation statement)

References 12 publications

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“…With an increase or decrease in pressure, the length of the actuator increases or decreases, and thus the expansion or contraction force and the stiffness increase. Therefore, the stiffness cannot be altered without altering the force or the actuator's length [80]. Because of this, Al-Fahaam's model [8] focused on independently changing the length and stiffness.…”

Section: Introductionmentioning

confidence: 99%

A Novel Variable Stiffness Compound Extensor-Pneumatic Artificial Muscle (CE-PAM): Design and Mathematical Model

Al-Mayahi,

Al-Fahaam

2023

Journal of Robotics and Control

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Pneumatic artificial muscles (PAMs) have been exploited in robots utilized in various fields, including industry and medicine, due to their numerous advantages, such as their light weight; smooth, fast responses; and ability to generate significant force when fully extended. The actuator’s stiffness is important in these applications, and extensor PAMs (EPAMs) have a lower stiffness when compared to contractor PAMs (CPAMs). Because of this, this research presents the compound extensor PAM (CE-PAM), which is a novel actuator that has higher stiffness and can alter its stiffness at a fixed length or maintain a fixed stiffness at a variable length. This makes it useful in applications such as surgery robots and wearable robots. The CE-PAM is created by inserting the CPAM into the EPAM. Then, a mathematical model is developed to calculate the output force using several mathematical equations that relate the force, actuator size, and applied pressure to each other. The force is also calculated experimentally, and when comparing the mathematical with the experimental results, the error percentage appears greater than 20%. So the mathematical model is enhanced by calculating the wasted energy consumed by the actuator before the start of the bladder’s expansion, at which the force is zero because the pressure is consumed only for bladder expansion to touch the sleeve. The effect of the bladder’s thickness is calculated to further enhance the model by calculating the volume of air entering the muscle rather than the total muscle volume. To illustrate the effect of thickness on the actuator, experiments are conducted on CPAMs made of the same bladder material but with different thicknesses. A balloon is used in the manufacture of the bladder. Because it is a lightweight, thin material with a low thickness, it requires very low pressure to expand.

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Section: Introductionmentioning

confidence: 99%

A Novel Variable Stiffness Compound Extensor-Pneumatic Artificial Muscle (CE-PAM): Design and Mathematical Model

Al-Mayahi,

Al-Fahaam

2023

Journal of Robotics and Control

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Investigation into the high electroactuation performance of a gelatinous biomimetic artificial muscle constructed using glycyrrhiza polysaccharide cross-linking modification

Yang,

Sha,

et al. 2023

Sensors and Actuators A: Physical

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Force-displacement hysteresis characteristics of PAM based on improved generalised Prandtl-Ishlinskii model

Zhang,

Liu,

Cai

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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As an advanced actuator that simulates the characteristics of biological muscle, the internal structure and working principle of pneumatic artificial muscle imply significant complexity and highly nonlinear characteristics, which are particularly prominent in the theoretical modelling process, and pose many challenging problems for researchers. The classical Prandtl-Ishlinskii model fails to provide ideal mathematical descriptions and accurate models when dealing with the nonlinear characteristics of pneumatic artificial muscle, resulting in the construction of models for such nonlinear systems that still require further research. Based on the above, this paper proposes a generalised Prandtl-Ishlinskii model based on the improved force-displacement hysteresis characteristics of pneumatic artificial muscle, which employs an improved particle swarm optimisation to identify the unknown parameters of the model, and applies the identified parameters to construct the force-displacement hysteresis curves of pneumatic artificial muscle. Comparing the model fitting results with the experimental data, it is found that the maximum error of the improved generalised Prandtl-Ishlinskii model is reduced by more than 50% and the average error is reduced by more than 75% compared with the classical Prandtl-Ishlinskii model when the internal pressure of the pneumatic artificial muscle is 0.35, 0.4 and 0.45 MPa. The improved generalised Prandtl-Ishlinskii model can better characterise the asymmetric hysteresis property, which improves the model accuracy of the force-displacement coupling of pneumatic artificial muscle, and provides a certain theoretical basis for the later realisation of the precise control of the force-displacement coupling of pneumatic artificial muscle.

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Characterization and Joint Control Study of Pneumatic Artificial Muscles

Cited by 4 publications

References 12 publications

A Novel Variable Stiffness Compound Extensor-Pneumatic Artificial Muscle (CE-PAM): Design and Mathematical Model

A Novel Variable Stiffness Compound Extensor-Pneumatic Artificial Muscle (CE-PAM): Design and Mathematical Model

Investigation into the high electroactuation performance of a gelatinous biomimetic artificial muscle constructed using glycyrrhiza polysaccharide cross-linking modification

Force-displacement hysteresis characteristics of PAM based on improved generalised Prandtl-Ishlinskii model

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