Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles

Liu, Xin; Zhang, Jinhui; Xu, Fang; Wang, Tao; Liu, Zhao

doi:10.1109/lra.2022.3172984

Cited by 8 publications

(2 citation statements)

References 24 publications

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“…𝐷 𝑎𝑒 = 𝐷 𝑒 − 2𝑡 𝑎 = 𝑏 𝑒 sin 𝜃 𝑒 𝜋𝑛 𝑒 − 2𝑡 𝑎 (36) The actual extensor muscle volume (𝑉 𝑎𝑒 ) is obtained by the equation (37).…”

Section: The Effect Of Bladder Thickness On Muscle Contraction and Ex...mentioning

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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“…𝐷 𝑎𝑒 = 𝐷 𝑒 − 2𝑡 𝑎 = 𝑏 𝑒 sin 𝜃 𝑒 𝜋𝑛 𝑒 − 2𝑡 𝑎 (36) The actual extensor muscle volume (𝑉 𝑎𝑒 ) is obtained by the equation (37).…”

Section: The Effect Of Bladder Thickness On Muscle Contraction and Ex...mentioning

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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“…Moreover, their compliance allows backslashes recovery in a mechanical assembly. These peculiarities make MKMs and, more generally, soft actuators suitable for robotic, biomechanical, and medical applications [6][7][8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Design and Characterization of a Mckibben Pneumatic Muscle Prototype with an Embedded Capacitive Length Transducer

et al. 2022

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The McKibben muscle types are pneumatic actuators known to be intrinsically safe for their high power-to-weight ratio. For these reasons, they are suitable for robotic, biomechanical, and medical applications. In these application fields and, above all, in collaborative robotics, where safety must be ensured for human–robot interactions, the values of pressure, force, and length are necessary and must be continuously monitored and controlled. Force and pressure transducers are commercially available to be integrated into a McKibben muscle type. On the contrary, no commercial-length transducers can be adopted. This work presents a novel McKibben muscle prototype with an embedded capacitive-length transducer. The latter is a cylindrical capacitor made of a telescopic system composed of two tubes: one of its ends is connected to the muscle. A change in the length of the muscle causes a proportional change in the transducer capacitance. The paper reports in detail on the working principle of McKibben’s muscle, its fabrication, characterization, and validation of four prototype capacitive transducers. The results achieved from the experimental activities demonstrate that it is possible to control the variations of the muscle length relative to its elongation and compression for values less than 1 mm. This is the consequence of the ability to measure the transducer capacitance with a typical statistical relative indetermination better than 0.25%, which is a figure of merit for the reliability and mechanical and electrical stability of the proposed McKibben muscle prototype. Moreover, it has been demonstrated that the transducer capacitance as a function of the muscle length is linear, with maximum deviations from linearity equal to 2.44% and 5.22% during the muscle elongation and compression, respectively.

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Dynamic modelling and inverse compensation for coupled hysteresis in pneumatic artificial muscle-actuated soft manipulator with variable stiffness

Zhang,

Cheng,

Chen

et al. 2024

ISA Transactions

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Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles

Cited by 8 publications

References 24 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

Design and Characterization of a Mckibben Pneumatic Muscle Prototype with an Embedded Capacitive Length Transducer

Dynamic modelling and inverse compensation for coupled hysteresis in pneumatic artificial muscle-actuated soft manipulator with variable stiffness

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