Static Modeling of Braided Pneumatic Muscle Actuator: An Amended Force Model

2021 ◽  
Author(s):  
Saswath Ghosh ◽  
Deepak Kumar ◽  
Sitikantha Roy
Keyword(s):  
Power System ◽  
Applied Pressure ◽  
Static Model ◽  
Force Model ◽  
Static Force ◽  
Pneumatic Muscle ◽  
Deformation Response ◽  
Static Modeling ◽  
Pneumatic Muscle Actuator ◽  
Practical Feasibility

Abstract The present study reports an amended static force model for a pneumatic muscle actuator (PMA) used in different aerodynamic and fluid power system applications. The PMA is a fluid actuator, made of a polymeric bladder enclosed in a braided mesh sleeve. A physics-based static model is developed to predict the deformation response of the actuator for different applied pressure. The significant losses, like braid-to-braid friction, non-cylindrical ends, and bladder hyperelasticity effect, have been considered to enhance the model’s practical feasibility. However, a combined effect of all these losses in the PMA was ignored in the literature. The findings of the derived model agree well with existing experimental results.

Static Force Model-Based Stiffness Model for Pneumatic Muscle Actuators

2015 ◽  
Vol 18 ◽  
pp. 207-214 ◽  
Author(s):  
József Sárosi ◽  
Ján Piteľ ◽  
Jaroslav Šeminský
Keyword(s):  
Variable Stiffness ◽  
Relative Displacement ◽  
Time Variable ◽  
Force Model ◽  
Power Weight ◽  
Static Force ◽  
Pneumatic Muscle ◽  
Stiffness Model ◽  
Muscle Actuators ◽  
And Control

Pneumatic muscle actuators (PMAs) differ from general pneumatic systems as they have no inner moved parts and there is no sliding on the surfaces. During action they reach high velocities, while the power/weight and power/volume rations reach high levels. The main drawbacks of PMAs are limited contraction (relative displacement), nonlinear and time variable behaviour, existence of hysteresis and step-jump pressure (to start radial diaphragm deformation) and also antagonistic connection of PMAs to generate two-direction motion. These make PMAs difficult to modelling and control. In this paper a new stiffness model and the variable-stiffness spring-like characteristics are described and tested using two Fluidic Muscles made by Festo Company. The muscles have the same diameter, but different length.

scholarly journals Comparison of static force exerted by fluidic muscle and shadow air muscle

2015 ◽  
Vol 9 (2) ◽  
pp. 15-19
Author(s):  
József Sárosi ◽  
László György
Keyword(s):  
Applied Pressure ◽  
Relative Displacement ◽  
Static Force ◽  
Contraction Force ◽  
Pneumatic Muscle ◽  
Pneumatic Muscles ◽  
Load Carrying ◽  
Air Muscle ◽  
Fluidic Muscle ◽  
Muscle Actuators

Many researchers have investigated different properties and behaviour of pneumatic muscles actuators (PMAs). Most of them have dealt with the force-contraction (force-relative displacement) characteristics or control of PMAs. In this paper two different type PMAs are compared: Fluidic Muscle made by Festo Company and Shadow Air Muscle made by Shadow Robot Company. The most relevant difference between them can be noticed in their structure. The Fluidic Muscle is an embedded muscle which means the load carrying element is embedded in its membrane, while Shadow Air Muscle is a netted muscle, but in its non-loaded condition there is a gap between the membrane and the load carrying element. Among other things, force developed by pneumatic muscle actuators depends on applied pressure, contraction, geometry and the used materials. As it is described in this paper, they show significantly different force-contraction characteristics despite having similar dimensional properties. These characteristics are determined by experimental measurement.

Research on Grain Impacting Load in Abrasive Flow Machining

2013 ◽  
Vol 797 ◽  
pp. 405-410 ◽  
Author(s):  
Jin Fu Ding ◽  
Ke Hua Zhang ◽  
Yong Chao Xu
Keyword(s):  
Cutting Force ◽  
Process Parameters ◽  
Dynamic Process ◽  
Force Model ◽  
Dynamic Force ◽  
Static Force ◽  
Piston Velocity ◽  
General Process ◽  
Workpiece Surface ◽  
Abrasive Flow Machining

In order to grasp the microcosmic mechanism of abrasive flow machining (AFM), find out the real law of grain cutting workpiece surface, make out a reasonable process parameters and improve the abrasive flow processing efficiency. The process of grain (near to workpiece surface, called as active grains) cutting workpieces material has been analyzed and the cutting force model has been established in present work. Firstly, at the beginning of the present work, the general process of grain cutting, wearing or deburring workpiece surface has been researched. Theoretical analysis shows that the cutting force not only derives from static force, such as abrasive medium viscoelasticity and grain squeezing, but also dynamic force, such as grain impacting load on the workpiece surface. In ordering to prove the dynamic force exists, one or two main dynamic process parameters (such as abrasive viscosity, extrusion pressure, piston velocity) are chosen, dynamic force is most sensitive to the variation of which, meantime, static force is not, and then the effects of main dynamic process parameters on cutting force value have been compared with the effects of others process parameters by several experiments in the present work. The experimental results show that with the same proportion of variation of process parameters, the change in cutting force (mainly axial cutting force) consists with theoretical results very well in some degree.

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