scholarly journals Experimental investigation of characteristics of pneumatic artificial muscles

2010 ◽  
Vol 5 (1-2) ◽  
pp. 244-248
Author(s):  
János Gyeviki ◽  
József Sárosi ◽  
Antal Véha ◽  
Péter Toman
Keyword(s):  
Experimental Investigation ◽  
Mechanical Testing ◽  
Artificial Muscles ◽  
Test Bed ◽  
Pneumatic Artificial Muscles ◽  
Mckibben Muscle ◽  
Set Up

The characteristics of pneumatic artificial muscles (PAMs) make them very interesting for the development of robotic and prosthesis applications. The McKibben muscle is the most popular and is made commercially available by different companies. The aim of this research is to acquire as much information about the pneumatic artificial muscles as we can with our test-bed that was developed by us and to be able to adopt these muscles as a part of prosthesis. This paper presents the set-up constructed, and then describes some mechanical testing results for the pneumatic artificial muscles.

Third–Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle

2012 ◽  
Vol 26 (11-12) ◽  
pp. 1205-1227 ◽  
Author(s):  
Daniel Villegas ◽  
Michaël Van Damme ◽  
Bram Vanderborght ◽  
Pieter Beyl ◽  
Dirk Lefeber
Keyword(s):  
Artificial Muscles ◽  
Third Generation ◽  
Pneumatic Artificial Muscles ◽  
Mckibben Muscle ◽  
Robotic Applications

Experimental Investigation-Natural Fiber Braided Sleeve for Pneumatic Artificial Muscles Actuation

2013 ◽  
Vol 6 (3) ◽  
pp. 596-602 ◽  
Author(s):  
T. Nagarajan ◽  
S. Krishnan ◽  
Victor Amirtham ◽  
Ahmad Majdi Abdul-Rani ◽  
T.V.V.L.N. Rao
Keyword(s):  
Experimental Investigation ◽  
Natural Fiber ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscles

scholarly journals An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098603
Author(s):  
Daoxiong Gong ◽  
Mengyao Pei ◽  
Rui He ◽  
Jianjun Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Artificial Muscles ◽  
Extended State ◽  
Robot System ◽  
Mode Control ◽  
Physical Experiments ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

scholarly journals Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication

2021 ◽  
Author(s):  
Jiang Zou ◽  
Miao Feng ◽  
Ningyuan Ding ◽  
Peinan Yan ◽  
Haipeng Xu ◽  
...  
Keyword(s):  
Muscle Fiber ◽  
Artificial Muscles ◽  
Fiber Array ◽  
Fiber Arrays ◽  
Multiple Mode ◽  
Pneumatic Artificial Muscles ◽  
Pipe Line ◽  
One Step ◽  
Robotic Applications ◽  
Compliant Electrodes

Abstract Although the advances in artificial muscles enable creating soft robots with biological dexterity and self-adaption in unstructured environments, producing scalable artificial muscles with multiple-mode actuations is still elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles, called MAIPAMs (Muscle-fiber Array Inspired Pneumatic Artificial Muscles), capable of multiple-mode actuations (such as parallel elongation-bending-spiraling actuations, parallel 10 bending actuations, and cascaded elongation-bending-spiraling actuations). Our MAIPAMs mainly consist of active 3D elastomer-balloon arrays reinforced by a passive elastomer membrane, which is achieved through a planar design and one-step rolling fabrication approach. We introduce the prototypical designs of MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible while un-stretchable layers for contraction and twisting actuations and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows promising potentials for versatile robotic applications, such as carrying a camera for recording videos, gripping and manipulating objects, and climbing a pipe-line.

Variable recruitment in bundles of miniature pneumatic artificial muscles

2016 ◽  
Vol 11 (5) ◽  
pp. 056014 ◽  
Author(s):  
Sylvie A DeLaHunt ◽  
Thomas E Pillsbury ◽  
Norman M Wereley
Keyword(s):  
Artificial Muscles ◽  
Pneumatic Artificial Muscles ◽  
Variable Recruitment

Effects of spray inoculation equipment on the viability of Rhizobium spp. in liquid inoculants for legumes

1982 ◽  
Vol 22 (117) ◽  
pp. 299 ◽  
Author(s):  
RR Gault ◽  
DL Chase ◽  
J Brockwell
Keyword(s):  
Soybean Seed ◽  
Strain Differences ◽  
Significant Loss ◽  
Operating Pressure ◽  
Test Bed ◽  
Spray Inoculation ◽  
Rhizobium Spp ◽  
Set Up ◽  
Pumping Equipment ◽  
Liquid Inoculant

Pumping equipment designed for seedbed inoculation of legumes with liquid inoculants was set up on a test bed in the laboratory. Experiments, in which liquid inoculant was circulated through the equipment, were conducted to determine the effect on inoculant viability of variables likely to be encountered when farmers used the equipment in the field. Provided that peat cultures of Rhizobium spp. were used to make liquid inoculant, neither pump type, operating pressure up to 173 kPa, water temperature up to 35�C, nor water impurity up to a level equivalent to 170 �S/cm conductivity seriously reduced inoculant populations during the first hour of treatment, although a significant decline in numbers occurred in three out of 16 experiments. When inoculant was exposed to the various treatments for long periods, a significant loss of viability occurred, in 7 out of 13 experiments, between 4-8 h. R. meliloti was least affected by treatment and R. leguminosarum most affected, but this may have been due to strain differences as much as to species differences. Liquid inoculants which were made from broth cultures lost viability very quickly. R.. meliloti liquid inoculant, prepared from a peat culture and introduced by spraying into a dry soil of neutral pH in the absence of any host plant, did not lose viability during a period of four weeks. The spray inoculation equipment was also used successfully in a field experiment to add water to the seedbed to aid in the germination of soybean seed sown into drying soil.

Experimental Validation of Nominal Model Characteristics for Pneumatic Muscle Actuator

2013 ◽  
Vol 460 ◽  
pp. 1-12 ◽  
Author(s):  
Alexander Hošovský ◽  
Kamil Židek
Keyword(s):  
Control System ◽  
Nonlinear Differential Equations ◽  
Model Performance ◽  
Weight Ratio ◽  
Open Loop ◽  
Artificial Muscles ◽  
Pneumatic Actuators ◽  
Intelligent Control System ◽  
Pneumatic Artificial Muscles ◽  
The One

Pneumatic artificial muscles belong to a category of nonconventional pneumatic actuators that are distinctive for their high power/weight ratio, simple construction and low price and maintenance costs. As such, pneumatic artificial muscles represent an alternative type of pneumatic actuator that could replace the traditional ones in certain applications. Due to their specific construction, PAM-based systems have nonlinear characteristics which make it more difficult to design a control system with good performance. In the paper, a gray-box model (basically analytical but with certain experimental parts) of the one degree-of-freedom PAM-based actuator is derived. This model interconnects the description of pneumatic and mechanical part of the system through a set of several nonlinear differential equations and its main purpose is the design of intelligent control system in simulation environment. The model is validated in both open-loop and closed-loop mode using the measurements on real plant and the results confirm that model performance is in good agreement with the performance of real actuator.

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