Dynamic characterization and simulation of two-link soft robot arm with pneumatic muscles

A Modeling of Twisted and Coiled Polymer Artificial Muscles Based on Elastic Rod Theory

“…Most of those soft robots are driven by soft actuators or known as artificial muscles which can serve torsion, tensile, or bending motion pneumatically, thermally, electrically, or by other methods [3][4][5][6][7]. Pneumatic artificial muscles (PAMs) have large actuation force, high power density, and fast respond speed [8,9]. PAMs can exhibit high strain up to 90%, generating peak power densities over 2 kW/kg [10].…”

Inverse Kinematics Solution of a Robot Arm based on Adaptive Neuro Fuzzy Interface System

“…This kind of actuators are usually exhibiting huge nonlinearity. For this kind of problems Adaptive Neural Fuzzy Inference System (ANFIS) has been introduced as a possible solution for inverse kinematics [23].…”

Narx-Nn Model of 2-Dof Robot Arm Dynamics Driven by Fluidic Muscles

“…Despite the disadvantages of these drives, the pneumatic artificial muscles have several advantages (high flexibility, tensile strength, but also safety) that stimulate researchers to explore this area of drives. The results of the studies that were about the static and dynamic properties of artificial muscles, their models, and the application of models in kinematic systems are described in literature [Hošovský 2016, Sárosi 2015, Zhao 2015, Piteľ 2014, Wickramatunge 2009, Hildebrandt 2005. Articles that are similar to this research and article (identification of systems powered by pneumatic artificial muscles) are also analysed in [Anh 2006[Anh , 2008[Anh , 2010.…”