Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part One—Design Process

2011 ◽  
Author(s):  
Garrett Waycaster ◽  
Sai-Kit Wu ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Controller Design ◽  
Artificial Muscle ◽  
The Other ◽  
Robotic Systems ◽  
Pneumatic Artificial Muscle ◽  
Actuation System ◽  
Torque Curve ◽  
System Part ◽  
New Feature ◽  
And Control

This paper describes the design and control of a compact and flexible pneumatic artificial muscle (PAM) actuation system for bio-robotic systems. The entire paper is divided into two parts, with the first part covering the mechanism design and the second part covering the corresponding controller design. This novel system presented in this part incorporates two new features, including a variable-radius pulley based PAM actuation mechanism, and a spring-return mechanism to replace the PAM in the “weak” direction. With the pulley radius as a function of the joint angle, this new feature enables the designer to freely modulate the shape of the torque curve, and thus achieves a significantly higher flexibility than the traditional configuration. The other new feature, the spring-return mechanism, is inspired by the fact that a large number of bio-robotic systems require a significantly larger torque in one direction than the other.

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control

2011 ◽  
Author(s):  
Sai-Kit Wu ◽  
Garrett Waycaster ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Robust Control ◽  
Nonlinear Model ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Control Approach ◽  
Actuation System ◽  
Highly Nonlinear ◽  
Pressure Dynamics ◽  
System Part ◽  
And Control

A robust control approach is presented in this part of the paper, which provides an effective servo control for the novel PAM actuation system presented in Part I. Control of PAM actuation systems is generally considered as a challenging topic, due primarily to the highly nonlinear nature of such system. With the introduction of new design features (variable-radius pulley and spring-return mechanism), the new PAM actuation system involves additional nonlinearities (e.g. the nonlinear relationship between the joint angle and the actuator length), which further increasing the control difficulty. To address this issue, a nonlinear model based approach is developed. The foundation of this approach is a dynamic model of the new actuation system, which covers the major nonlinear processes in the system, including the load dynamics, force generation from internal pressure, pressure dynamics, and mass flow regulation with servo valve. Based on this nonlinear model, a sliding mode control approach is developed, which provides a robust control of the joint motion in the presence of model uncertainties and disturbances. This control was implemented on an experimental setup, and the effectiveness of the controller demonstrated by sinusoidal tracking at different frequencies.

A Monopropellant-Powered Muscle Actuation System

2010 ◽  
Author(s):  
Xiangrong Shen ◽  
Daniel Christ
Keyword(s):  
Controller Design ◽  
Artificial Muscle ◽  
High Energy ◽  
Mobile Systems ◽  
High Energy Density ◽  
Robotic Systems ◽  
Effective Control ◽  
Future Application ◽  
Actuation System ◽  
Highly Nonlinear

This paper describes the design and control of a new monopropellant-powered muscle actuation system for robotic systems, especially the mobile systems inspired by biological principles. Based on the pneumatic artificial muscle, this system features a high power density, as well as characteristics similar to biological muscles. By introducing the monopropellant as the energy storage media, this system utilizes the high energy density of liquid fuel and provides a high-pressure gas supply with a simple structure in a compact form. This addresses the limitations of pneumatic supplies on mobile devices and thus is expected to facilitate the future application of artificial muscles on bio-robotic systems. In this paper, design of the monopropellant-powered muscle actuation system is presented as well as a robust controller design that provides effective control for this highly nonlinear system. To demonstrate the proposed muscle actuation system, an experimental prototype was constructed on which the proposed control algorithm provides good tracking performance.

Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

2014 ◽  
Vol 23 (9) ◽  
pp. 095014 ◽  
Author(s):  
Benjamin K S Woods ◽  
Curt S Kothera ◽  
Gang Wang ◽  
Norman M Wereley
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Trailing Edge ◽  
Actuation System ◽  
Trailing Edge Flap

204 Modeling and Control of Pneumatic Artificial Muscle Actuator

2008 ◽  
Vol 2008.83 (0) ◽  
pp. _2-4_
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Hiroto KAN ◽  
Shinya NISHINO ◽  
Tatsuwo KUDAWARA ◽  
...  
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Modeling And Control ◽  
And Control

scholarly journals 2A2-J03 Modelling and Control of Two link mechanism Driven by Pneumatic Artificial Muscle Actuator(Mechanism and Control for Actuator)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A2-J03_1-_2A2-J03_4
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Tomoyuki MIZUNO ◽  
Masashi KIMURA ◽  
Hiroyuki KOJIMA ◽  
...  
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Link Mechanism ◽  
And Control

Motion Planning and Control of Artificial Muscle Actuated Underwater Vehicle Using Nonlinear Neural Oscillator

2007 ◽  
Author(s):  
Joon Soo Lee ◽  
Woosoon Yim ◽  
Kwang J. Kim
Keyword(s):  
Motion Planning ◽  
Controller Design ◽  
Artificial Muscle ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Neural Oscillator ◽  
Aquatic Environments ◽  
Metal Composite ◽  
Planning And Control ◽  
And Control

In this paper, we introduce the motion planning and control strategy for the underwater vehicle actuated by a soft artificial muscle actuator. The artificial muscle used for this underwater application is an Ionic Polymer Metal Composite (IPMC) which can generate bending motion in aquatic environments. In this research, the double ring structured nonlinear neural oscillator is proposed for the undulatory motion in the actuator. The overall dynamic model of the flexible IPMC actuator including its fluid interaction terms is used for the motion planning and open-loop controller design. The IPMC used in this study is a patterned or segmented type where the electrode surface of the actuator is encoded such that each segment can be controlled independently for effectively generating an undulatory motion in the water. Computer simulations show that the proposed neural oscillator based controller can be effectively used for the underwater locomotion applications, and can be extended to the closed-loop controller where the precise maneuver is needed in the unstructured aquatic environments.

Sliding Mode Control of a 2DOF Planar Pneumatic Manipulator

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Michaël Van Damme ◽  
Bram Vanderborght ◽  
Ronald Van Ham ◽  
Björn Verrelst ◽  
Frank Daerden ◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
System Model ◽  
Sliding Mode Controller ◽  
Pneumatic Artificial Muscle ◽  
Actuator Dynamics ◽  
Pressure Dynamics ◽  
Muscle Actuators

This paper presents a sliding mode controller for a 2DOF planar pneumatic manipulator actuated by pleated pneumatic artificial muscle actuators. It is argued that it is necessary to account for the pressure dynamics of muscles and valves. A relatively detailed system model that includes pressure dynamics is established. Since the model includes actuator dynamics, feedback linearization was necessary to design a sliding mode controller. The feedback linearization and subsequent controller design are presented in detail, and the controller’s performance is evaluated, both in simulation and experimentally. Chattering was found to be quite severe, so the introduction of significant boundary layers was required.

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