A dynamic model of the McKibben artificial muscle contraction

Author

Tondu, B.

Author_Institution

Dept. of INSAT, GARI LESIA, Toulouse, France

fYear

1997

fDate

20-20 June 1997

Firstpage

64

Abstract

Summary form only given. The McKibben muscle is used in robot arms as an actuator, but no accurate control of it is known because of the internal friction in the textile weave. The authors analyze this phenomenon by using a 3-parameters dry friction model based on the assumption of a kinetic friction coefficient greater than the static one. This friction model of the weave rubbing against itself completes a model of the muscle as a force generator. This force generator model has been validated in a previous work. The dynamic model considered including the proposed dry static friction model has been tested on an experimental apparatus. Results are presented.

Keywords

actuators; force measurement; friction; internal friction; pneumatic control equipment; robot dynamics; robot kinematics; 3-parameters dry friction model; McKibben artificial muscle contraction; actuator; dry static friction model; dynamic model; force generator; internal friction; kinetic friction coefficient; robot arms; textile weave; Actuators; Batteries; Damping; Electric motors; Electronic mail; Fingers; Force sensors; Friction; Muscles; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on

Conference_Location

Tokyo, Japan

Print_ISBN

0-7803-4080-9

Type

conf

DOI

10.1109/AIM.1997.652928

Filename

652928