Identification of the 2-Axes Pneumatic Artificial Muscle (PAM) Robot Arm Using Double NARX Fuzzy Model and Genetic Algorithm

2008 ◽  
Author(s):  
Ho Pham Huy Anh ◽  
Kyoung Kwan Ahn ◽  
Jong Il Yoon
Keyword(s):  
Genetic Algorithm ◽  
Fuzzy Model ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm

scholarly journals The Design and Implementation of a Single-Actuator Soft Robot Arm for Lower Back Pain Reduction

2020 ◽  
Vol sceeer (3d) ◽  
pp. 25-29
Author(s):  
Alaa Al-Ibadi
Keyword(s):  
Back Pain ◽  
Lower Back Pain ◽  
Artificial Muscle ◽  
Soft Robot ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Design And Implementation ◽  
Lower Back ◽  
The People ◽  
High Degree

This paper presents a simple and fast design and implementation for a soft robot arm. The proposed continuum arm has been built by a single self-bending contraction actuator (SBCA) with two-fingers soft gripper. Because of the valuable advantages of the pneumatic artificial muscle (PAM), this continuum arm provides a high degree of safety to individuals. The proposed soft robot arm has a bending behaviour of more 180° at 3.5 kg, while, its weight is 0.7 kg. Moreover, it is designed to assist the people by reducing the number of backbends and that leads to a decrease in the possibility of lower back pain.

Pneumatic Artificial Muscle Development and Manufacturing Process and Verification Testing for Space Flight Application

2019 ◽  
Author(s):  
Christopher J. Netwall ◽  
James P. Thomas ◽  
Michael S. Kubista ◽  
Kerry A. Griffith ◽  
Christopher Kindle ◽  
...  
Keyword(s):  
Space Flight ◽  
Muscle Development ◽  
Performance Metrics ◽  
Artificial Muscle ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Naval Research ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Space Applications

Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

Pneumatic Artificial Muscle Actuators With Integrated Controls for Space Flight Applications

2019 ◽  
Author(s):  
Christopher J. Netwall ◽  
James P. Thomas ◽  
Michael S. Kubista ◽  
Kerry A. Griffith ◽  
Christopher Kindle ◽  
...  
Keyword(s):  
Space Flight ◽  
Performance Metrics ◽  
Artificial Muscle ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Naval Research ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Space Applications ◽  
Muscle Actuators

Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

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