DocumentCode :
2618603
Title :
Design and control of a manipulator arm driven by pneumatic muscle actuators
Author :
Situm, Zeljko ; Herceg, Srecko
Author_Institution :
Dept. of Robot. & Autom. of Production Syst., Univ. of Zagreb, Zagreb
fYear :
2008
fDate :
25-27 June 2008
Firstpage :
926
Lastpage :
931
Abstract :
It seems that the pneumatic artificial muscles (PAMs) have a very great potential in industrial applications for the actuation of new types of robots and manipulators. Their properties such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity are worthy features in advanced robotics. In this paper we describe the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic muscle actuators. An antagonistic muscle pair is used in a linear translational sense to produce a force or in a rotational sense to produce a required torque on the pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. A nonlinear mathematical model of the manipulator arm driven by pneumatic artificial muscles and controlled with proportional control valve is derived, which is used in a numerical simulation program. The experiments were carried out on practically realized manipulator actuated by pair of muscle actuators set into antagonism configuration.
Keywords :
manipulators; pneumatic actuators; valves; advanced robotics; antagonism configuration; manipulator arm; pneumatic artificial muscles; pneumatic muscle actuators; power-to-weight ratio; proportional control valve; single-joint manipulator arm; Construction industry; Manipulators; Muscles; Pneumatic actuators; Proportional control; Robot sensing systems; Safety; Service robots; Testing; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Automation, 2008 16th Mediterranean Conference on
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-2504-4
Electronic_ISBN :
978-1-4244-2505-1
Type :
conf
DOI :
10.1109/MED.2008.4602136
Filename :
4602136
Link To Document :
بازگشت