Static and dynamic characteristics of McKibben pneumatic actuator for realization of stable robot motions

Author

Sugimoto, Yasuhiro ; Naniwa, Keisuke ; Osuka, Koichi

Author_Institution

Dept. of Mech. Eng., Osaka Univ., Suita, Japan

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

1817

Lastpage

1822

Abstract

A robot driven by a McKibben pneumatic actuator generates stable motion despite its simple control and simple actuator model. However, how its characteristics act on the stability of robot motion have not been sufficiently discussed. In this paper, a model of the McKibben pneumatic actuator is derived in which the actuator characteristics are considered. In modeling the McKibben pneumatic actuator, we concentrated on its dynamic characteristics.We applied the actuator model to a simple robot model and analyzed the stability of the motions generated by the actuators. From the stability analysis results, we found that the stability of the constant posture is satisfied by the static and dynamic characteristics of the McKibben pneumatic actuator.

Keywords

pneumatic actuators; robot dynamics; stability; McKibben pneumatic actuator; actuator characteristics; constant posture; dynamic characteristics; robot motion stability; simple robot model; static characteristics; Actuators; Atmospheric modeling; Bladder; Frequency modulation; Robots; Rubber; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094792

Filename

6094792