Applied Mechanics and Materials Vol. 460

Abstract: 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.

Abstract: This paper deals with usability of MEMS sensors for diagnostics of mechatronics system state wirelessly. We can acquire basic kinematics and dynamics mechanism parameters (spatial position, speed, acceleration, vibration, angular rate, orientation, etc.) and some environment condition (local/remote temperature, humidity, pressure, electromagnetic noise) by MEMS sensors. Acquired data are sent to remote application in desktop computer. This system can replace expensive and separate diagnostic tools by small integrated solution with one wireless communication interface (with limitation of MEMS sensors precision). This solution can be battery powered with long operation time, because there is used new wireless technology based on Bluetooth 4 protocol (Low Energy/Smart Bluetooth). Some of integrated MEMS sensors measures same variable on different measuring principle. For example angle can be acquired from three different sensors: magnetometer, accelerometer or gyroscope. Combination of these sensor data can significantly improve value accuracy. The designed diagnostic tool can serve as an inertia measuring unit IMU or Wireless IMU (WIMU).

Abstract: Pneumatic position servo system with artificial muscles described in this paper represents feedback control system with non-linear compensation controller of state variables. The designed system demonstrates the operating characteristics that are significantly more favorable than the original characteristics without compensation and they are similar to the properties of the linear system. Such system has principally a shorter control time, significantly lower dynamic control error and it allows apply larger constants of the controller. Following an increased invariance of system against disturbances and also its parametric invariance (robustness) occur.

Abstract: The paper dealt with material damping of fibrous composites for devices driven by artificial muscles as non-conventional driver. The composite material is intended mainly for rehabilitation devices, as well as for human artificial limbs, exoskeletons etc. The manipulator (rehabilitation) devices have potential to find usage in different periods of human life. Material properties of composites are suitable for applications with dynamic load, especially for their weight and material damping. On the base of experimental measuring, the material damping of several materials is analyzed.

Abstract: The aim of the contribution is to describe reliability control in technical equipment with focus on maximizing overall system reliability by the means of optimal selection of basic elements or by proper redundancy of the elements. The contribution describes the possibilities of increasing the reliability of pneumatic artificial muscle by the means of passive reliability increase of its parts. Further, possibilities of reliability increase by the means of active and passive reserve are described, as a higher level of reliability control in technical systems. In conclusion, summary of particular ways of reliability increase is presented on a concrete example of artificial muscle.

Abstract: The article contains information about the function and basic properties of the actuator based on pneumatic artificial muscles. The article presents the measurement results of the response of the actuator arm displacement depending on the input pulse. This dependence enables artificial muscles to be better adjusted to the needs of a practical operation, especially in terms of lagging. The article also included calculations of velocity and acceleration of individual time intervals. For the possibility of simulation application, a mathematical model of the approximation curve of the response development is presented.

Abstract: The paper deals with proposal of synthesis of drive control of solar panels facility. New way of facility control is presented. The facility serves for solar panels rotation according to sun radiation intensity, sun location, and feedback control of position of linear electric drive.

Abstract: The article is focused on the actuator with one pneumatic artificial muscle and spring which counteracts the tensile force of the artificial muscle. Such a solution requires only one inlet and one outlet electromechanical pneumatic valve. It is suitable for the synthesis of so-called low cost bioservosystems. The paper presents mathematical description and static characteristics of individual parts of the actuator and also characteristics of the all mechanism.

Abstract: Paper is focused to the development in designing of technical systems and present methodology approaches. For a long time, engineering design research has been focused on the development of various design theories, methodologies, methods, tools, and procedures. Engineers to more efficiently design artefacts have subsequently used that design methods. However, as the artefacts have grown in complexity, the need for new methods has become obvious. Also, in a nowadays world, increased competition and globalisation require organizations to re-examine traditional product development strategies. While the difficulties in design synthesis are caused by a wide variety of issues, the complicatedness under problem size is so essential that it make procedural design knowledge insufficient to generate superior design solutions.