Paper Title:
Empirically-Sourced Mechanical Behaviors of Pneumatic Artificial Muscles for Compensation-Based Controls
  Abstract

As a skeletal muscle-like actuator, PAM possesses many unique advantages. They include compliance and high power-to-weight ratio, which make it an ideal actuator for robotic and powered exoskeleton applications. But its flexible braided mesh shell and the compressibility of air make PAM much more difficult to model and control compared to traditional actuators. In this work, the mechanical properties of the McKibben PAM produced by Festo are examined, tested and discussed. The results demonstrate the muscle-like property of PAM and its strong non-linear and hysteresis behaviors. A simple law between the areas of the hysteresis and pressure is proposed, and the relationships of the areas of the hysteresis, external load and the continuous working time are studied. Further, changing the PAM length that is smaller than 0.4 mm may lead to the “crawl” phenomenon. Finally, the empirical results can be used in compensation-based controls of the hysteresis in the McKibben PAM.

  Info
Periodical
Edited by
Wenya Tian and Linli Xu
Pages
31-35
DOI
10.4028/www.scientific.net/AMR.186.31
Citation
F. Li, Y. Wang, H. T. Tong, R. P.S. Han, "Empirically-Sourced Mechanical Behaviors of Pneumatic Artificial Muscles for Compensation-Based Controls", Advanced Materials Research, Vol. 186, pp. 31-35, 2011
Online since
January 2011
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Price
$32.00
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Abstract:The paper describes basic characteristics of pneumatic artificial muscles (PAM) for using as actuator in mechatronic system. The previous...
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