Research on Movement Stability of Robotic Arm Driven by Antagonistic Pneumatic Artificial Muscle with Mechanical Properties

Jun Xian Zhu; Yu Wang; He Ting Tong

doi:10.4028/www.scientific.net/AMR.644.235

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 644Research on Movement Stability of Robotic Arm...

Research on Movement Stability of Robotic Arm Driven by Antagonistic Pneumatic Artificial Muscle with Mechanical Properties

Abstract:

This paper presents a method how to implement stable rotation of an 1D robotic arm driven by antagonistic pneumatic artificial muscles (PAM) based on SIMULINK platform. Through simulation analysis, the optimal values of the torque from tensile difference of PAM, damping coefficient and rotational inertia were determined to ensure that the robotic arm can smoothly turn from starting point to target one inside an limited interval of time. The results of the study provide a useful reference for the rational design of mechanical characteristics and structure features of the dynamic system. And they also provide more ideal system parameters for successive control of the system.

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Periodical:

Advanced Materials Research (Volume 644)

Pages:

235-238

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.644.235

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Online since:

January 2013

Authors:

Jun Xian Zhu, Yu Wang, He Ting Tong

Keywords:

Antagonist, Pneumatic Artificial Muscle (PAM), Robot Arm, System Simulation

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