Study on mechanical behaviors of pneumatic artificial muscle

Wickramatunge, Kanchana Crishan; Leephakpreeda, Thananchai

doi:10.1016/j.ijengsci.2009.08.001

Cited by 112 publications

(85 citation statements)

References 7 publications

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“…However, the contraction ratio (ε) is not fixed for all actuators and it depends on the type of inner rubber tube, the diameter of the PMA, and the maximum diameter of the braided sleeve. Al-Ibadi, et al [12] proposed a length formula as in Equation (14).…”

Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

“…where: the parameters a, b, c, d, and e are constants for each L0 and they represent the coefficients of Equation (14).…”

Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

“…The force formula has been enhanced by Al-Ibadi, et al [12] by considering the amount of the pressure required to establish the tensile force. The hysteresis has been considered by numerous researchers [13,14]. In spite of these works, an exact force and position model do not yet exist.…”

Section: Introductionmentioning

confidence: 99%

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Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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Abstract:To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

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Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

“…where: the parameters a, b, c, d, and e are constants for each L0 and they represent the coefficients of Equation (14).…”

Section: Structure-based Length Formula For Contraction Pmasmentioning

confidence: 99%

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Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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“…dL dp n p k (6) P is the pneumatic input pressure and it corresponds to the input voltage of the proportional valve. 1  , n , 0  , need to be adjusted by experiment.…”

Section: Robot Platformmentioning

confidence: 99%

“…Based on these characteristics, the application in rehabilitation field has been studied and many rehabilitation robots using pneumatic muscles as actuators have been developed [4]. However, due to the flexible rubber material, friction of woven web [5], nonlinear of compressed air and the uncertainty of robot model, the robot control system is very complex with strong nonlinearity and parts of time-varying parameters [6]. Fig.…”

Section: Introductionmentioning

confidence: 99%

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhang

et al. 2017

Lecture Notes in Computer Science

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Abstract. Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.

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Zum Potenzial von Kohlenstofffaserverbundwerkstoffen in Bauanwendungen

et al. 2014

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The paper discusses the application of carbon fibre composite materials in the building industry. It shows that carbon fibre composites are already established in certain areas of civil engineering, e.g. for the strengthening of the statics of buildings and bridges and as construction material. On the other hand special potential of the material, apart from mechanical features, which are advantageous in construction engineering, are identified. Selected examples of specific applications deduced from four characteristic properties of the material and the manufacturing process respectively, are described: 1) Utilisation of the anisotropy for the construction of flexible and at the same time stiff construction components, 2) integration of (multi-)functionalities, 3) utilisation of the low thermal expansion coefficient and 4) application of recycled carbon fibres in inorganic matrices

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Study on mechanical behaviors of pneumatic artificial muscle

Cited by 112 publications

References 7 publications

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zum Potenzial von Kohlenstofffaserverbundwerkstoffen in Bauanwendungen

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