Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

Dynamic Characteristics of an Antagonistic Actuation with Pneumatic Artificial Muscles

공압형 인공근육을 이용한 상극구동의 동적 특성

  • 강봉수 (한남대학교 기계공학과) ;
  • 송승 (한남대학교 기계공학과)
  • Published : 2009.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents dynamic characteristics of pneumatic artificial muscles. Since the actuating performance of a pneumatic muscle is closely related to the input pressure of a pneumatic muscle, the air flow model on a valve orifice and an elastic bladder of the muscle is formulated to estimate precisely the pressure variance of pneumatic muscles during deflating and inflating process. Frequency response experiments are performed with an antagonistic system consisting of two pneumatic muscles and fast pneumatic control valves. Comparing with experimental results, the proposed model yielded good performance in estimating dynamic motions of the antagonistic system as well as the pressure variance of the pneumatic artificial muscles

Keywords

References

  1. Daerden, F. and Lefeber, D., 2002, 'Pneumatic Artificial Muscles: Actuators for Robotics and Automation,' European Journal of Mechanical and Environment Engineering, Vol. 47, pp. 10-21
  2. Schulte, H. F., 1961, 'The Characteristics of the Mckibben Artificial Muscle,' The Application of External Power in Prosthetics and Orthotics Appendix H, Publication 87, Washington DC: National Academy of Sciences, pp. 94-115
  3. Inoue, K., 1988, 'Rubbertuators and Applications for Robots,' Proc. of 4th Int. Symp. on Robotics Research, pp. 57-63
  4. Tondu, B. and Lopez, P., 2000, 'Modeling and Control of Mckibben Artificial Muscle Robot Actuators,' IEEE Control Systems Magazine, Vol. 20, No. 2, pp. 15-38 https://doi.org/10.1109/37.833638
  5. Tsagarakis, N. and Caldwell, D., 2000, 'Improved Modelling and Assessment of Pneumatic Muscle Actuators,' Proceedings of ICRA, Vol. 4, pp. 3641- 3646 https://doi.org/10.1109/ROBOT.2000.845299
  6. http://www.festo.com
  7. Kothera, C. S., Jangid, M., Sirohi, J., Wereley, M., 2006, 'Experimental Characterization and Static Modeling of Mckibben Actuators,' Proceedings of IMECE 2006
  8. Tondu, B., Ippolito, S., Guiochet, J. and Daidie, A., 2005, 'A Seven- Degrees-of-Freedom Robot-Arm Driven by Pneumatic Artificial Muscles for Humanoid Robots,' Journal of Robotics Research, Vol.24, No.4, pp.257-274 https://doi.org/10.1177/0278364905052437
  9. Tsagarakis, N. and Caldwell, D., 2000, 'Improved Modelling and Assessment of Pneumatic Muscle Actuators,' Proceedings of ICRA, Vol. 4, pp. 3641-3646 https://doi.org/10.1109/ROBOT.2000.845299
  10. Chou, C.-P. and Hannaford, B., 1994, 'Static and Dynamic Characteristics of Mckibben Pneumatic Artificial Muscles,' Proceedings of ICRA, Vol.1, pp.281-286 https://doi.org/10.1109/ROBOT.1994.350977
  11. Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M. J., 1995, 'Control of Pneumatic Muscle Actuators,' IEEE Control Systems Magazine, Vol. 15, No. 1, pp.40-48 https://doi.org/10.1109/37.341863
  12. Ogata, K., 1978, System Dynamics, Prentice-Hall
  13. Richer, E. and Hurmuzlu, Y., 2000, 'A High Performance Pneumatic Force Actuator System: Part I – Nonlinear Mathematical Model,' J. of Dyn. Syst., Meas. and Control, Vol. 122, pp. 416-425 https://doi.org/10.1115/1.1286336

Cited by

  1. Model Estimation and Precise Position Control of an Antagonistic Actuation with Pneumatic Artificial Muscles vol.35, pp.5, 2011, https://doi.org/10.3795/KSME-A.2011.35.5.533