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Dynamic Characteristics of an Antagonistic Actuation with Pneumatic Artificial Muscles

공압형 인공근육을 이용한 상극구동의 동적 특성

  • 강봉수 (한남대학교 기계공학과) ;
  • 송승 (한남대학교 기계공학과)
  • Published : 2009.10.01

Abstract

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

Keywords

Artificial Muscle;Pneumatic System;Antagonistic Actuation;Frequency Response

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Cited by

  1. Model Estimation and Precise Position Control of an Antagonistic Actuation with Pneumatic Artificial Muscles vol.35, pp.5, 2011, https://doi.org/10.3795/KSME-A.2011.35.5.533