Empirically-Sourced Mechanical Behaviors of Pneumatic Artificial Muscles for Compensation-Based Controls

Fei Li; Yu Wang; He Ting Tong; Ray P.S. Han

doi:10.4028/www.scientific.net/AMR.186.31

Paper Titles

A Vision-Based Gap Detection Method during the Placement of Large-Scale Composite Structures
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Surface Texture Detection for Composite Material Placement Based on Vision
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Simulation on Electro-Hydraulic Proportional Position Control System under Pressure Boundary Conditions
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Study in Stereovision Obstacle Avoidance for Adsorption Type Wall-Climbing Robot with Several Legs
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Empirically-Sourced Mechanical Behaviors of Pneumatic Artificial Muscles for Compensation-Based Controls
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Elman Neural Network–Based Dynamic Scheduling of Wafer Photolithography Process
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Analysis of Ceramic Pattern Case
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PSO and WCR-Based Scheduling Algorithm for Non-Identical Semiconductor Batch Processing Devices
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Dynamic Analysis of Cutter Head System in Tunnel Boring Machine
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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.