Title :
Static modeling of antagonistic pneumatic actuator for robotic applications
Author :
Landkammer, Stefan ; Schneider, Daniel ; Winter, Florian ; Hess, Peter ; Hornfeck, Rudiger
Author_Institution :
Fac. of Mech. Eng., Nuremberg Inst. of Technol., Nuremberg, Germany
Abstract :
The biological of spider legs inspired the development of a biomimetic pneumatic actuator for robotic applications. The concept is to straighten the joint by pressurizing the interior of an exoskeleton to inflate a bellows-like flexible membrane. The flexion is initiated by contraction of a McKibben-type muscle, which is integrated in the exoskeleton chamber. A detailed mathematical model to operate these antagonistic joint actuators is presented. Feasible torque and angle characteristics of the actuator depending on the input pressures are also presented and control strategies are discussed.
Keywords :
biomimetics; pneumatic actuators; robots; McKibben-type muscle; antagonistic joint actuators; antagonistic pneumatic actuator; bellows-like flexible membrane; biomimetic pneumatic actuator; robotic applications; spider leg biological principle; static modeling; Actuators; Fasteners; Joints; Legged locomotion; Mathematical model; Muscles; Torque; actuator; biomimetic; fluidic; pneumatic; robotic application; spider leg mechanism;
Conference_Titel :
Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM), 2015 IEEE International Workshop of
Conference_Location :
Liberec
Print_ISBN :
978-1-4799-6970-8
DOI :
10.1109/ECMSM.2015.7208684
