Dynamic Characteristics of an Antagonistic Actuation with Pneumatic Artificial Muscles

被引：3
|
作者：
Kang, Bong-Soo
Song, Seung
机构：
来源：
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2009年 / 33卷 / 10期
关键词：
Artificial Muscle; Pneumatic System; Antagonistic Actuation; Frequency Response;
D O I：
10.3795/KSME-A.2009.33.10.1081
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents dynamic characteristics of pneumatic artificial muscles. Since the actuating performance of a pneumatic muscle is closely related to the input pressure of a pneumatic muscle, the air flow model on a valve orifice and an elastic bladder of the muscle is formulated to estimate precisely the pressure variance of pneumatic muscles during deflating and inflating process. Frequency response experiments are performed with an antagonistic system consisting of two pneumatic muscles and fast pneumatic control valves. Comparing with experimental results, the proposed model yielded good performance in estimating dynamic motions of the antagonistic system as well as the pressure variance of the pneumatic artificial muscles
引用
收藏
页码：1081 / 1086
页数：6
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