Static Modeling for Commercial Braided Pneumatic Muscle Actuators

Zhong, Jun; Fan, Jizhuang; Zhu, Yanhe; Zhao, Jie; Zhai, Wei

doi:10.1155/2014/425217

Cited by 7 publications

(9 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The modeling research of pneumatic muscle also attracts some researchers to establish a more accurate model of this element. 32 However, the pneumatic muscle can only bear one-directional tensile force, which means it cannot be used in heavy load conditions under compression forces. Recently, D Meng et al 33 proposed an adaptive robust method to control a low-friction pneumatic cylinder with 25 mm diameter and 1/ 8# proportional valve, which got an adequate performance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Shang

Tao

Meng

2016

Advances in Mechanical Engineering

View full text Add to dashboard Cite

Due to the compressibility of air, non-linear characteristics, and parameter uncertainties of pneumatic elements, the position control of a pneumatic cylinder or parallel platform is still very difficult while comparing with the systems driven by electric or hydraulic power. In this article, based on the basic dynamic model and descriptions of thermal processes, a controller integrated with online parameter estimation is proposed to improve the performance of a pneumatic cylinder controlled by a proportional valve. The trajectory tracking error is significantly decreased by applying this method. Moreover, the algorithm is expanded to the problem of posture trajectory tracking for the three-revolute prismatic spherical pneumatic parallel manipulator. Lyapunov's method is used to give the proof of stability of the controller. Using NI-CompactRio, NI-PXI, and Veristand platform as the realistic controller hardware and data interactive environment, the adaptive robust control algorithm is applied to the physical system successfully. Experimental results and data analysis showed that the posture error of the platform could be about 0.5%-0.7% of the desired trajectory amplitude. By integrating this method to the mechatronic system, the pneumatic servo solutions can be much more competitive in the industrial market of position and posture control.

show abstract

Section: Introductionmentioning

confidence: 99%

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Shang

Tao

Meng

2016

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Here, x, t, w n , w d , and ζ, are displacement, time, natural angular frequency, damped angular frequency, and damping ratio, respectively, and C 1 and σ are arbitrary constants. Because the measured waveform was considered to be as shown in Figure 6c (II), the waveform can be represented by Equation (8). Here, considering the effects of work for removing the load on the vibration, such as contact and friction, let the position of the second minimum value be t = 0 as shown in Figure 6c (II,III).…”

Section: Methodsmentioning

confidence: 99%

“…Elements and actuators that are used in the devices have a profound effect on the compliance and lightness of the whole device. These include springs, pneumatic artificial muscles (PAMs) [1][2][3][4][5][6][7][8][9][10][11], magnetorheological (MR) dampers [12][13][14], shape memory alloys (SMAs) [15][16][17], soft pneumatic actuators (SPAs) [18], and dielectric elastomer actuators (DEAs) [19]. Research and development of these components and devices that employ them are widely conducted.…”

Section: Introductionmentioning

confidence: 99%

Investigating the Effect of a Mechanism Combined with a Speed-Increasing Gear and a Pneumatic Artificial Muscle

Sekine

Kokubun

2018

Actuators

View full text Add to dashboard Cite

Abstract:The lightness and softness of pneumatic artificial muscles (PAMs) contribute to their safe use in mechanical devices involved with humans. However, a PAM has limited range of motion (ROM) and a stroke-dependent output force. In this paper, a mechanism combined with a PAM and a speed-increasing gear was developed to improve the tradeoff relationship between the ROM and output force and to verify its benefits in order to enhance the convenience of using PAMs. The gear enhanced the ROM and back-drivability of the PAM, which is beneficial for device safety in daily use. We first designed a mechanism consisting of an antagonistic system-driven PAM and the gear, and then simulated the relationship between the ROM and output force of the mechanism. The effectiveness of the mechanism including the gear was compared with a non-gear mechanism with multiple PAMs. We prototyped the PAM mechanism with and without the gear, and their ROMs, impact absorption, and viscoelasticity were experimentally investigated. Results showed that the gear effectively improved both ROM and output torque below a certain load; moreover, the gear ratio and air pressure had large effects on the external static and dynamic forces, respectively. We confirmed comprehensively the effect and feasibility of the mechanism.

show abstract

“…Colbrunn [34]. Meanwhile, J. Zhong, in 2014, investigated the effect of strand on strand and bladder on bladder friction models for the dynamic modeling [35].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method

Dzahir

Yamamoto

2019

Applied Sciences

View full text Add to dashboard Cite

This paper explores empirical modeling of McKibben muscle in characterizing its hysteresis behavior and nonlinearities during quasi-static, quasi-rate, and historic dependencies. The unconventional materials-based actuating system called McKibben muscle has excellent properties of power-to-weight ratio, which could be used in rehabilitation orthosis application for condition monitoring, physical enhancement, and rehabilitation therapy. McKibben muscle is known to exhibit hysteresis behavior and it is rate-dependent (the level of hysteresis depends closely on rate of input excitation frequency). This behavior is undesirable and it must be considered in realizing high precision control application. In this paper, the nonlinearities of McKibben muscle is characterized using empirical modeling with multiple correction functions such as shape irregularity and slenderness. A particle swarm optimization (PSO) method is used to determine the best parametric values of the proposed empirical with modified dynamic friction model. The LabVIEW and MATLAB platforms are used for data analysis, modeling and simulation. The results confirm that this model able to significantly characterize the nonlinearities of McKibben muscle while considering all dependencies.

show abstract

Static Modeling for Commercial Braided Pneumatic Muscle Actuators

Cited by 7 publications

References 11 publications

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Investigating the Effect of a Mechanism Combined with a Speed-Increasing Gear and a Pneumatic Artificial Muscle

Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method

Contact Info

Product

Resources

About