Browse > Article
http://dx.doi.org/10.3795/KSME-A.2009.33.10.1081

Dynamic Characteristics of an Antagonistic Actuation with Pneumatic Artificial Muscles  

Kang, Bong-Soo (한남대학교 기계공학과)
Song, Seung (한남대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.33, no.10, 2009 , pp. 1081-1086 More about this Journal
Abstract
This paper presents dynamic characteristics of pneumatic artificial muscles. Since the actuating performance of a pneumatic muscle is closely related to the input pressure of a pneumatic muscle, the air flow model on a valve orifice and an elastic bladder of the muscle is formulated to estimate precisely the pressure variance of pneumatic muscles during deflating and inflating process. Frequency response experiments are performed with an antagonistic system consisting of two pneumatic muscles and fast pneumatic control valves. Comparing with experimental results, the proposed model yielded good performance in estimating dynamic motions of the antagonistic system as well as the pressure variance of the pneumatic artificial muscles
Keywords
Artificial Muscle; Pneumatic System; Antagonistic Actuation; Frequency Response;
Citations & Related Records

Times Cited By SCOPUS : 1
연도 인용수 순위
1 Inoue, K., 1988, 'Rubbertuators and Applications for Robots,' Proc. of 4th Int. Symp. on Robotics Research, pp. 57-63
2 Tondu, B. and Lopez, P., 2000, 'Modeling and Control of Mckibben Artificial Muscle Robot Actuators,' IEEE Control Systems Magazine, Vol. 20, No. 2, pp. 15-38   DOI
3 Tsagarakis, N. and Caldwell, D., 2000, 'Improved Modelling and Assessment of Pneumatic Muscle Actuators,' Proceedings of ICRA, Vol. 4, pp. 3641- 3646   DOI
4 http://www.festo.com
5 Kothera, C. S., Jangid, M., Sirohi, J., Wereley, M., 2006, 'Experimental Characterization and Static Modeling of Mckibben Actuators,' Proceedings of IMECE 2006
6 Tsagarakis, N. and Caldwell, D., 2000, 'Improved Modelling and Assessment of Pneumatic Muscle Actuators,' Proceedings of ICRA, Vol. 4, pp. 3641-3646   DOI
7 Chou, C.-P. and Hannaford, B., 1994, 'Static and Dynamic Characteristics of Mckibben Pneumatic Artificial Muscles,' Proceedings of ICRA, Vol.1, pp.281-286   DOI
8 Ogata, K., 1978, System Dynamics, Prentice-Hall
9 Richer, E. and Hurmuzlu, Y., 2000, 'A High Performance Pneumatic Force Actuator System: Part I – Nonlinear Mathematical Model,' J. of Dyn. Syst., Meas. and Control, Vol. 122, pp. 416-425   DOI   ScienceOn
10 Schulte, H. F., 1961, 'The Characteristics of the Mckibben Artificial Muscle,' The Application of External Power in Prosthetics and Orthotics Appendix H, Publication 87, Washington DC: National Academy of Sciences, pp. 94-115
11 Tondu, B., Ippolito, S., Guiochet, J. and Daidie, A., 2005, 'A Seven- Degrees-of-Freedom Robot-Arm Driven by Pneumatic Artificial Muscles for Humanoid Robots,' Journal of Robotics Research, Vol.24, No.4, pp.257-274   DOI
12 Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M. J., 1995, 'Control of Pneumatic Muscle Actuators,' IEEE Control Systems Magazine, Vol. 15, No. 1, pp.40-48   DOI   ScienceOn
13 Daerden, F. and Lefeber, D., 2002, 'Pneumatic Artificial Muscles: Actuators for Robotics and Automation,' European Journal of Mechanical and Environment Engineering, Vol. 47, pp. 10-21