Displacement Control of Water Hydraulic McKibben Muscle
نویسندگان
چکیده
منابع مشابه
McKibben Artificial Muscle Actuators:
The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. In this paper we present a model that includes a non-linear, Mooney-Rivlin mathematical description of the actuator’s internal bladder. Ex...
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The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. Typical applications often require a significant number of repeated contractions and extensions or cycles of the actuator. This repeated a...
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We analyze the possibility of taking advantage of artificial muscle‘s own stiffness and damping, and substituting it for a classic proportional-integral-derivative controller (PID) controller an I controller. The advantages are that there would only be one parameter to tune and no need for a dynamic model. A stability analysis is proposed from a simple phenomenological artificial muscle model. ...
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An enhanced dynamic force model of a type of small and soft McKibben-type pneumatic muscle (PM) actuator has been developed. This model takes the factor of external loads and a more sophisticated form of friction into account, and is presented as a polynomial function of pressure, contraction length, contraction velocity and external load. The coefficients in this model are determined from a se...
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The combination of horizontal drilling along with hydraulic fracturing has significantly improved the production of hydrocarbon reservoirs and made it possible to extract the relatively impermeable and uneconomical reservoirs. The production rate of oil and gas wells increases proportional to hydraulic fracture aperture or crack opening displacement (COD). This is an important parameter i...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY
سال: 2014
ISSN: 1349-7022,1880-3121
DOI: 10.5739/jfps.45.85