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.

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.

Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Kyeong Ho Cho ◽  
Ho Moon Kim ◽  
Youngeun Kim ◽  
Sang Yul Yang ◽  
Hyouk Ryeol Choi
Keyword(s):  
Artificial Muscle ◽  
Operating Mode ◽  
Robotic Arm ◽  
Soft Actuator ◽  
Wearable Robots ◽  
Working Principle ◽  
Linear Actuators ◽  
Soft Actuators ◽  
Muscle Actuators ◽  
Further Development

Soft linear actuators (SLAs) such as shape memory alloy (SMA) wires, pneumatic soft actuators, dielectric elastomer actuator, and twisted and coiled soft actuator (TCA) called artificial muscle actuators in general, have many advantages over the conventional actuators. SLAs can realize innovative robotic technologies like soft robots, wearable robots, and bionic arms in the future, but further development is still needed in real applications because most SLAs do not provide large displacement or force as needed. This paper presents a novel mechanism supplementing SLAs by accumulating the displacement of multiple SLAs. It adopts the principle of differential gears in reverse. Since the input units of the mechanism are extensible, more displacement can be accumulated by increasing the number of the input units as many as needed. The mechanism is basically used to accumulate displacements, but can be used to accumulate forces by changing its operating mode. This paper introduces the design and working principle of the mechanism and validates its operation experimentally. In addition, the mechanism is implemented on a robotic arm and its effectiveness is confirmed.

scholarly journals An Adaptive Fast Terminal Sliding Mode Controller of Exercise-Assisted Robotic Arm for Elbow Joint Rehabilitation Featuring Pneumatic Artificial Muscle Actuator

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 118
Author(s):  
Huu Tho Nguyen ◽  
Van Chon Trinh ◽  
Thanh Danh Le
Keyword(s):  
Fuzzy Logic ◽  
Online Learning ◽  
Elbow Joint ◽  
Artificial Muscle ◽  
Learning Ability ◽  
Experimental Result ◽  
Robotic Arm ◽  
Pneumatic Artificial Muscle ◽  
Model Based ◽  
Fuzzy Logic Technique

Due to the time-varying nonlinear dynamic, uncertain model and hysteresis characteristics of the pneumatic artificial muscle (PAM) actuator, it is not easy to apply model-based control algorithms for monitoring, as well as controlling, the operation of systems driven by PAM actuators. Hence, the main aim of this work is to propose an intelligent controller named adaptive sliding controller adding compensator (ASC + C) to operate a robotic arm, featuring a pneumatic artificial muscle actuator, which assists rehabilitation exercise of the elbow joint function. The structure of the proposed controller is a combination between the fuzzy logic technique and Proportional Integral Derivative (PID) algorithm. In which, the input of fuzzy logic controller is the sliding surface, meanwhile, its output is the estimated value of the unknown nonlinear function, meaning that the model-based requirement is released. A PID controller works as a compensator with online learning ability and is designed to compensate because of the approximate error and hysteresis characteristic. Additionally, to improve convergence and to obtain stability, a fast terminal sliding manifold is introduced and online learning laws for parameters of the controller are attainted through the stable criterion of Lyapunov. Finally, an experimental apparatus is also fabricated to evaluate control response of the system. The experimental result confirmed strongly the ability of the proposed controller, which indicates that the ASC + C can obtain a steady state tracking error less than 5 degrees and a position response without overshoot.

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.

Robotic Arm Movement Optimization Using Soft Computing

2017 ◽  
Vol 6 (1) ◽  
pp. 1
Author(s):  
Surender Kumar ◽  
Kavita Rani ◽  
V. K. Banga
Keyword(s):  
Optimal Control ◽  
Genetic Algorithms ◽  
Soft Computing ◽  
Target Position ◽  
Arm Movement ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Robot Arm ◽  
Soft Computing Techniques ◽  
Simulation Time

<p class="Text">Robots are commonly used in industries due to their versatility and efficiency. Most of them operating in that stage of the manufacturing process where the maximum of robot arm movement is utilized. Therefore, the robots arm movement optimization by using several techniques is a main focus for many researchers as well as manufacturer. The robot arm optimization is This paper proposes an approach to optimal control for movement and trajectory planning of a various degree of freedom in robot using soft computing techniques. Also evaluated and show comparative analysis of various degree of freedom in robotic arm to compensate the uncertainties like movement, friction and settling time in robotic arm movement. Before optimization, requires to understand the robot's arm movement i.e. its kinematics behavior. With the help of genetic algorithms and the model joints, the robotic arm movement is optimized. The results of robotic arm movement is optimal at all possible input values, reaches the target position within the simulation time.</p>

Study of Smooth and Accurate Position Controls of Pneumatic Artificial Muscle Actuators for Robotic Arms

2011 ◽  
Vol 317-319 ◽  
pp. 799-806 ◽  
Author(s):  
Yu Wang ◽  
Zhong Xiu Shi ◽  
Ji Rong Wang ◽  
Ray P.S. Han
Keyword(s):  
Angular Position ◽  
Artificial Muscle ◽  
Error Rates ◽  
Pneumatic Artificial Muscle ◽  
Position Information ◽  
Robotic Arms ◽  
Position Errors ◽  
Accurate Position ◽  
Point To Point ◽  
Muscle Actuators

This paper utilizes position errors, position error rates and payload variations as inner feedback loops for controlling the actuators of joint rotations in a pneumatic artificial muscle (PAM) driven robot. The result is an algorithm that is able to adaptively regulate input signals for the proportional pressure valve that controls the air flow to the PAM, in an attempt to better mimic the point-to-point movement of human arm. Further, the algorithm is able to utilize the angular position information from an outer feedback loop to activate/deactivate a solenoid valve for a rapid damping of the non-oscillatory motion and thereby, able to quickly and accurately bring the joints to a rest at a desired position. The proposed method appears to be effective in overcoming some of the inherent drawbacks that arise from the viscoelastic shell and air compressibility of the PAM element.

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