Contributions to the Behavioural Study of Pneumatically Actuated Artificial Muscles
نویسنده
چکیده
The utilization of pneumatic muscles in various industrial applications is still in an early phase, due to the relative newness of these components. In this paper the authors present results of the ongoing theoretical and experimental research on the operational behaviour of pneumatic muscles. Information is presented concerning muscle structure, as well as data on the generated forces, positioning accuracy, and the maximum working frequency of these pneumatic actuation elements.
منابع مشابه
Dynamics and Control of a Pneumatically Actuated Robotic Manipulator
This paper deals with the dynamics and control of a two degree of freedom robot arm actuated by pneumatic artificial muscles (PAMs). The high power-weight ratio of PAMs justifies their use as actuators in robotics. To achieve trajectory tracking performance, controllers are constructed based on a dynamic model of the robot arm. Due to the high non-linear dynamics of the robotic system, fuzzy co...
متن کاملA Novel Continuum Trunk Robot Based on Contractor Muscles
We describe the design, construction, and operation of a novel continuous backbone “continuum” robot. Inspired by biological trunks and tentacles, the robot is actuated by the pneumatic muscles which form its structure. In contrast to previous designs, the actuators are contractor muscles, which decrease in length as pressure is increased. This choice of actuator results in novel and improved p...
متن کاملExperimental Study of Nonsingular Terminal Sliding Mode Controller for Robot Arm Actuated by Pneumatic Artificial Muscles
In this paper, experimental study of robust control for robot manipulator actuated by pneumatic artificial muscles was realized. The experimented controller belonged to the class of variable structure systems which is called nonsingular terminal sliding mode (NTSM). The control approach is based on the time delay estimation method. First, the nonsingular terminal sliding mode control approach w...
متن کاملOptimization of fuzzy controller for an SMA-actuated artificial finger robot
The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...
متن کاملPrecise Control of the Piston Position and the Pressure of Cylinder Chambers for the Pneumatically Actuated Leg
In the pneumatically actuated leg control system, precise control of the piston position and the pressure of cylinder chambers is a tricky problem. In this paper, a new control scheme is introduced, in which the gas internal energy of the cylinder’s two chambers is used as the set point for PD controller. The proposed control scheme is essential to control the piston position and the chamber pr...
متن کامل