Title :
Analysis and Simulation of Dynamic Characteristics of Flexible Pneumatic Actuator FPA
Author :
Yang, Qinghua ; Bao, Guanjun ; Zhang, Libin ; Ruan, Jian
Author_Institution :
The MOE Key Lab. of Mech. Manufacture & Autom., Zhejiang Univ. of Technol., Hangzhou
Abstract :
Flexible pneumatic actuator FPA is a new type of actuator, proposed in Zhejiang University of Technology. Compared with typical McKibben muscle actuator, FPA features no friction, cabinet structure. Based on principle of aerothermodynamics, the dynamic model of FPA is established in this paper. The primary factors, which affect the dynamic properties of FPA, are the mass flow of air and the volume of FPA chamber. Simulation results of inflating and deflating process of FPA indicate that the section area of air connector of FPA is proportional to the mass flow of air and affects the dynamic properties greatly. The dynamic response of FPA is rapid, completed within 15 ms. Therefore the dynamic process of FPA can be ignored in applications where high response speed is not required
Keywords :
artificial limbs; pneumatic actuators; robot dynamics; Zhejiang University of Technology; aerothermodynamics; air connector; artificial muscle; flexible pneumatic actuator; Aerodynamics; Analytical models; Bladder; Manipulator dynamics; Manufacturing automation; Muscles; Optical fiber theory; Pneumatic actuators; Robotics and automation; Rubber; Aerothermodynamics; Artificial muscle; Dynamic properties; FPA; Flexible pneumatic actuator;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257510
