Efficient structure-based models for the McKibben contraction pneumatic muscle actuator : the full description of the behaviour of the contraction PMA

Al-Ibadi, AFA, Nefti-Meziani, S and Davis, ST 2017, 'Efficient structure-based models for the McKibben contraction pneumatic muscle actuator : the full description of the behaviour of the contraction PMA' , Actuators .

[img]
Preview
PDF - Published Version
Available under License Creative Commons Attribution 4.0.

Download (3MB) | Preview
[img] Microsoft Word - Accepted Version
Restricted to Repository staff only

Download (868kB)

Abstract

To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre (SIRC)
Journal or Publication Title: Actuators
Publisher: MDPI
ISSN: 2076-0825
Related URLs:
Depositing User: ST Davis
Date Deposited: 27 Oct 2017 11:57
Last Modified: 02 Nov 2017 14:41
URI: http://usir.salford.ac.uk/id/eprint/44173

Actions (login required)

Edit record (repository staff only) Edit record (repository staff only)

Downloads

Downloads per month over past year