Modeling and control of a pneumatic artificial muscle manipulator joint – Part I: Modeling of a pneumatic artificial muscle manipulator joint with accounting for creep effect

Minh, Tri Vo; Kamers, B.; Ramón, Herman; Brussel, Hendrik Van

doi:10.1016/j.mechatronics.2012.06.002

Cited by 42 publications

(18 citation statements)

References 19 publications

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“…The compliance is the characteristics describing the relationship between the joint rotations deform to the passive torque, always defined as the inverse of the joint stiffness. Combining (15) and (16), we can yield the compliance of bionic joint as…”

Section: Compliance Of the Bionic Jointmentioning

confidence: 99%

“…Most of the literatures about stiffness or compliance of the bionic joints focuses on the control scheme [14,15], and few is about how mechanism parameters affect the compliance or stiffness. Meanwhile, the stiffness of cable-driven parallel mechanism is not totally credible by traditional theoretical analysis, so the experimental analysis method is adopted [16].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles

Wang

Yan

Cheng

2013

Advances in Mechanical Engineering

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The five-link parallel mechanism is proposed to improve joint bionic performance, and the kinematics is established for the closed chain joint actuated by two antagonistic artificial pneumatic muscles (PMs). Interference and singularity constraints are analyzed, and the joint torque model is given based on the spring-damp dynamics. Through extracting the spring force term from torque equations, the compliance of bionic joint is derived and expressed as the ratio of angle to spring torque. Energy consumption is analyzed using the PM length varying. Based on MATLAB/SimMechanics, the relationships between the axil installation parameters and swing performances are illustrated through the simulations, including the effect of the installation height and width varying on the angle scope, swing response, compliance, and energy consumption. The bionic shoulder and elbow joints are optimally designed. Compared to the conventional joints, the swing angular range of the proposed joints is enhanced, and the contraction amount of PMs is reduced. The optimal mechanism is more humanoid.

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Section: Compliance Of the Bionic Jointmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles

Wang

Yan

Cheng

2013

Advances in Mechanical Engineering

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“…Both of the loops use PID-based control strategy. Consequently, some authors continued to develop the modified hysteresis model for both single PAM-mass system and PAMs in antagonistic configuration [16,17]. However, they mainly focused on modelling of PAMs.…”

Section: Introductionmentioning

confidence: 99%

Discrete-Time Fractional Order Integral Sliding Mode Control of an Antagonistic Actuator Driven by Pneumatic Artificial Muscles

2019

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Recently, pneumatic artificial muscles (PAMs), a lightweight and high-compliant actuator, have been increasingly used in assistive rehabilitation robots. PAM-based applications must overcome two inherent drawbacks. The first is the nonlinearity due to the compressibility of the air, and the second is the hysteresis due to its geometric construction. Because of these drawbacks, it is difficult to construct not only an accurate mathematical model but also a high-performance control scheme. In this paper, the discrete-time fractional order integral sliding mode control approach is investigated to deal with the drawbacks of PAMs. First, a discrete-time second order plus dead time mathematical model is chosen to approximate the characteristics of PAMs in the antagonistic configuration. Then, the fractional order integral sliding mode control approach is employed together with a disturbance observer to improve the trajectory tracking performance. The effectiveness of the proposed control method is verified in multi-scenario experiments using a physical actuator.

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“…Their main advantage is the ability to mimic muscular functions, and hence there is the perspective of their use. 2 They are especially applicable where electric and hydraulic drives fail because of their excessive weight, stiffness, or volume at low power capacity. For these reasons, PAMs are finding increasing use in many industrial applications such as robotics, robotic hands, and other types of applications such as medicine in biomimetic devices mimicking skeletal muscles.…”

Section: Introductionmentioning

confidence: 99%

Pulse width modulation modeling for efficient pneumatic artificial muscle control

Rimár

Fedak

Čorný

et al. 2019

Advances in Mechanical Engineering

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The aim of the article is to analyze the properties of artificial muscle system and effectiveness evaluation of the application of pulse width modulation in terms of improving the dynamic properties. In terms of dynamic properties, pneumatic artificial muscles represent a very complicated nonlinear structure. For this reason, the design of a robust positioning control system for pneumatic artificial muscle devices is demanding because, apart from the above-mentioned nonlinearity (because of air compressibility, air flow variability through valves, etc.), this is a time-and-parameter invariant system. The aim of the article is to evaluate the influence of pulse width modulation in pneumatic artificial muscle systems with regard to the accuracy and stability of the position achieved in the repeat mode, as well as the elimination of the adverse effect of the oscillation. The efficiency of the proposed control algorithm is demonstrated by experiments with external workload and no load.

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Modeling and control of a pneumatic artificial muscle manipulator joint – Part I: Modeling of a pneumatic artificial muscle manipulator joint with accounting for creep effect

Cited by 42 publications

References 19 publications

Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles

Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles

Discrete-Time Fractional Order Integral Sliding Mode Control of an Antagonistic Actuator Driven by Pneumatic Artificial Muscles

Pulse width modulation modeling for efficient pneumatic artificial muscle control

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