Parallel Robotic Manipulation via Pneumatic Artificial Muscles

Gryparis, Dimitris; Ανδρικόπουλος, Γεώργιος; Manesis, Stamatis

doi:10.5220/0005008700290036

Cited by 3 publications

(4 citation statements)

References 8 publications

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“…One of the major drivers for researchers to develop and use pneumatic muscles is the performance similarity between them and organic muscles [18][19][20]. Tsagarakis and Caldwell [21] analysed these similarities as illustrated in Table 1.…”

Section: Pneumatic Musclesmentioning

confidence: 99%

The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons

Al-Fahaam

Davis

Nefti‐Meziani

2018

Robotics and Autonomous Systems

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This article presents the development of a power augmentation and rehabilitation exoskeleton based on a novel actuator. The proposed soft actuators are extensor bending pneumatic artificial muscles. This type of soft actuator is derived from extending McKibben artificial muscles by reinforcing one side to prevent extension. This research has experimentally assessed the performance of this new actuator and an output force mathematical model for it has been developed. This new mathematical model based on the geometrical parameters of the extensor bending pneumatic artificial muscle determines the output force as a function of the input pressure. This model is examined experimentally for different actuator sizes. After promising initial experimental results, further model enhancements were made to improve the model of the proposed actuator. To demonstrate the new bending actuators a power augmentation and rehabilitation soft glove has been developed. This soft hand exoskeleton is able to fit any adult hand size without the need for any mechanical system changes or calibration. EMG signals from the human hand have been monitored to prove the performance of this new design of soft exoskeleton. This power augmentation and rehabilitation wearable robot has been shown to reduce the amount of muscles effort needed to perform a number of simple grasps.

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Section: Pneumatic Musclesmentioning

confidence: 99%

The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons

Al-Fahaam

Davis

Nefti‐Meziani

2018

Robotics and Autonomous Systems

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“…Pneumatic actuators are a popular class of actuators in cascade robot design. They provide high power density, have relatively low weight, and can be easily manufactured to custom specifications, as described in [1,12], or bought off the shelf in a variety of types and sizes [13][14][15]. In addition, the compressibility of air gives them a natural level of compliance.…”

Section: Introductionmentioning

confidence: 99%

“…Ref. [15] applied a simple constant-gain PID controller for positioning of a parallel platform actuated by four pneumatic muscles. The authors of Ref.…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Bellows Actuated Parallel Platform Control with Adjustable Stiffness Using a Hybrid Feed-Forward and Variable Gain Integral Controller

Varga,

Virgala,

Kelemen

et al. 2023

Applied Sciences

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Redundant cascade manipulators actuated by pneumatic bellows actuators are passively compliant, rugged and dexterous, making them exceptionally well suited for application in agriculture. Unfortunately, the bellows are notoriously difficult to precisely position. This paper presents a novel control algorithm for the control of a parallel platform actuated by pneumatic bellows, which serves as a module of a cascade manipulator. The algorithm combines a feed-forward controller and a variable-gain I-controller. The mathematical model of the module, which serves as the feed-forward controller, was created by applying two simple regression steps on experimentally acquired data. The gain of the I-controller is linearly dependent on the total reference error, thereby addressing the prevalent problem of “a slow response or excessive overshoot”, which, in the described case, the simple combination of a feed-forward and constant-gain I-controller tends to suffer from. The proposed algorithm was experimentally verified and its performance was compared with two controllers: an ANFIS controller and a constant gain PID controller. The proposed controller has outperformed the PID controller in the three calculated criteria: IAE, ISE and ITAE by more than 40%. The controller was also tested under dynamic loading conditions, showing promising results.

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“…Pneumatic artificial muscles are lightweight, soft and single-acting [2][3][4][5][6][7]. One of the major drivers for researchers to develop and use pneumatic muscles is the performance similarity between them and organic muscles [8][9][10]. Tsagarakis and Caldwell [11] analysed these similarities as illustrated in Table 1.…”

Section: Introductionmentioning

confidence: 99%

The Design and Mathematical Model of a Novel Variable Stiffness Extensor-Contractor Pneumatic Artificial Muscle

et al. 2018

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This article presents the design of a novel extensor-contractor pneumatic artificial muscle (ECPAM). This new actuator has numerous advantages over traditional pneumatic artificial muscles. These include the abilities to both contract and extend relative to a nominal initial length, to generate both contraction and extension forces, and to vary stiffness at any actuator length. A kinematic analysis of the ECPAM is presented in this article. A new output force mathematical model has been developed for the ECPAM based on its kinematic analysis and the theory of energy conservation. The correlation between experimental results and the new mathematical model has been investigated and show good correlation. Numerous stiffness experiments have been conducted to validate the variable stiffness ability of the actuator at a series of specific fixed lengths. This has proven that actuator stiffness can be adjusted independently of actuator length. Finally, a stiffness-position controller has been developed to validate the effectiveness of the novel actuator.

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Parallel Robotic Manipulation via Pneumatic Artificial Muscles

Cited by 3 publications

References 8 publications

The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons

The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons

Pneumatic Bellows Actuated Parallel Platform Control with Adjustable Stiffness Using a Hybrid Feed-Forward and Variable Gain Integral Controller

The Design and Mathematical Model of a Novel Variable Stiffness Extensor-Contractor Pneumatic Artificial Muscle

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