Novel models for the extension pneumatic muscle actuator performances

Al-Ibadi, A ORCID: 0000-0002-0779-8217, Nefti-Meziani, S and Davis, ST 2017, Novel models for the extension pneumatic muscle actuator performances , in: The 23rd International Conference on Automation & Computing, 7-8 September 2017, Huddersfield, UK.

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Abstract

This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle actuator (PMA). The extensor soft actuator has a vital feature of ability to bend and extend, and that give it the flexibility to use in numerous applications. The extended behaviour of this actuator is modelled mathematically to be used to predict the length of a wide range of actuators at different air pressure amounts and make the position control of such type of actuator easier and precise. Moreover, the contraction force formula is modified to describe the pushing force for the extensor actuator. The bending behaviour of single muscle is explained and a 4-PMA continuum arm has been constructed to study its performance and model the bending angle.

Item Type: Conference or Workshop Item (Paper)
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: 2017 23rd International Conference on Automation and Computing (ICAC)
Publisher: IEEE
Related URLs:
Depositing User: Alaa Falah Abdulhasan Al-Ibadi
Date Deposited: 10 Jul 2017 14:16
Last Modified: 30 Oct 2017 22:46
URI: http://usir.salford.ac.uk/id/eprint/42908

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