Performance Test and Finite Element Analysis of Pneumatic Muscle Actuator

공기압 근육 구동기의 유한요소 해석 및 성능시험

  • 허신 (한국기계연구원 미래기술연구부) ;
  • 배상규 (한국기계연구원 정보장비연구센터) ;
  • 김동수 (한국기계연구원 정보장비연구센터) ;
  • 김완두 (한국기계연구원 미래기술연구부) ;
  • 홍성인 (충남대학교 기계공학과)
  • Published : 2006.06.01


The pneumatic muscle actuator consists of an air bellows tube with two end-flanges. The air bellows tube is made from rubber layers and flexible sheathing formed from nylon 6 fibers. This structure can be stretched or compressed to convert the radial expansive forces into contractile forces. We performed the finite element analysis and the performance test of pneumatic muscle actuator. Also, the pneumatic muscle actuator was manufactured and tested by home-made tester. The results of FEA was similar with performance test below the maximum error of 42 %.


Pneumatic Muscle;Nylon6 cord;Contraction Ratio;Finite Element Model;Code Angle


  1. Caldwell, D.G., Tsagarakis, N: and Medrano-Cerda, G.A., 1993, 'Bio-mimetic Actuator: Polymeric Pseudo Muscular Actuators and Pneumatic Muscle Actuators for Biological Emulation,' Mechatronics, Vol. 10, pp. 499-530
  2. Schneider, R.T., 2002, 'It Looks Like a Piece of Hose. but It's a Pheumatic Tensile Actuator'. Ideas & Applications, Festo corp
  3. Belforte, G., Raparelli, T., Trivella, A., 1995, 'Study and Development of Innovative Pneumatic Microcylinders,' Conference of Hydraulics and Pneumatics, Germany, pp. 235-248
  4. Caldwell, D.G., Medrano-Cerda, G.A., and Goodwin, M., 1995, 'Control of Pneumatic Muscle Actuators,' IEEE Control Systems, pp. 40-48
  5. Ostasevicius, V., Sapragonas J., Rutka, A. and Staliulionis, D., 2002, 'Investigation of Active Car Suspension with Pneumatic Muscle,' 2002 SAE International Body Engineering Conference, pp. 2002-2206
  6. Fuchiwaki, M., Tanaka, K., Sewa, S. and Onishi, K., 2003, 'Vortex Control by an Artificial Muscle Based on the Conducting Polymer,' Proceedings of the 4th ASME/JSME Joint Fluids Engineering Conference, Vol. lC, pp. 1757-1762
  7. Yokota, S., Komatsu T., 1991, 'A Study on a Flexible Hydraulic Actuator for Space Manipulators,' J. of JSME(C), Vol. 57, No. 542, pp. 3222-3227
  8. Lee, Y.K., Shimoyarna, D., 2000, 'A Micro Rubber Artificial Muscle Driven by A Micro Compressor for 'Artificial LIMBS,' Actuator 2000 International Confernence, pp. 272-275
  9. ABAQUS Users's Manual, Ver. 6.2.1
  10. Kim, D.S., Bae, S.K., Huh S. and Hong, S.I., 2005, 'An Characteristics Analysis of the Fluidic Muscle Cylinder,' JFPS International Symposium on Fluid power, Vol. 1, pp. 546-551
  11. Ju, C.W., Kim, D.S., 2005, 'A Study on the Development for Fluidic Muscle Cylinder,' Final Report, pp. 64-89