scholarly journals DESIGN OF APPARATUS FOR EVALUATION OF TEMP-DEPENDENCE OF CREEP EFFECT IN PAM

2021 ◽  
Vol 2021 (6) ◽  
pp. 5460-5466
Author(s):  
MONIKA TROJANOVA ◽  
◽  
ALEXANDER HOSOVSKY ◽  
TOMAS CAKURDA ◽  
◽  
...  
Keyword(s):  
Temperature Dependence ◽  
Experimental Models ◽  
Artificial Muscles ◽  
Measuring Apparatus ◽  
Dynamic Phenomenon ◽  
Creep Effect ◽  
Pneumatic Artificial Muscles

The creep effect in relationship with the research of pneumatic artificial muscles represents a dynamic phenomenon characterized by slow changes in muscle displacement caused by the material's elasticity. However, the temperature of the environment in which the muscle works affects the temperature of the muscle. It also affects the creep effect itself; as a result, the process of identifying hysteresis models of muscle becomes difficult. The article contains a description and implementation of a measuring apparatus designed to measure the temperature dependence of the creep effect of fluid muscles. The apparatus was designed and constructed at the authors' workplace to analyze the creep effect and evaluate its impact on the accuracy of experimental models describing the dynamics of the drive.

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

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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