Author:
Šitum Željko,Herceg Srečko,Bolf Nenad,Ujević Andrijić Željka
Abstract
This paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. Different conceptions of the system realizations are analyzed using the morphological-matrix conceptual design framework and top-rated solution was practically realized. A simplified, control-oriented mathematical model of the manipulator arm driven by PAMs and controlled with a proportional control valve is derived. The model is then used for a controller design process. Fluidic muscles have great potential for industrial applications and assembly automation to actuate new types of robots and manipulators. Their characteristics, such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity, are worthy features for advanced manipulation systems. The experiments were carried out on a practically realized manipulator actuated by a pair of muscle actuators set into an antagonistic configuration. The setup also includes an original solution for the subsystem to add work pieces in the working space of the manipulator.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Reference22 articles.
1. Kalita, B., Leonessa, A., and Dwivedy, S.K. (2022). A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application. Actuators, 11.
2. Modeling and control of McKibben artificial muscle robot actuators;Tondu;IEEE Control Syst. Mag.,2000
3. Prediction of the mechanical performance of McKibben artificial muscle actuator;Chen;Int. J. Mech. Sci.,2014
4. Pack, R.T., Christopher, J.L., and Kawamura, K. (1997, January 25). A Rubbertuator-Based Structure-Climbing Inspection Robot. Proceedings of the International Conference on Robotics and Automation, Albuquerque, NM, USA.
5. Analysis and control of a rubbertuator arm;Smagt;Biol. Cybern.,1996
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献