Abstract
The paper describes a set of experimental measurements carried out on the experimental equipment with a drive based on pneumatic artificial muscles. Based on the analysis of the PAMS control systems issue in relation to the issue of a position control, a control algorithm has been designed and verified. The requirements of the control systems do not arise only from the condition of the desired positioning point rapid achievement, but also from the subsequent dynamics and accuracy repeatability. This algorithm enables an efficient way of stabilization of the actuator position in various dynamic conditions during the operation. It allows eliminating undesirable vibrations oscillating around the point of the required position and dampening them appropriately. The article describes a set of performed verification experimental measurements confirming the applicability in relation to the system that controls the position of the actuator utilizing the described algorithm. The algorithm application enables a positive influencing and optimization of the actuator positioning accuracy and a full-valued automation of its operation.
Highlights
Research and development in manufacturing technology have been constantly motivated by new challenges in manufacturing companies and firms focused on production of manufacturing machines and manipulators
The aim of the experiments was to describe transient phenomena occurring inside the pneumatic artificial muscle (PAM)
The results have confirmed the hypothesis about the PAMs and the air tank and time of its effect
Summary
Research and development in manufacturing technology have been constantly motivated by new challenges in manufacturing companies and firms focused on production of manufacturing machines and manipulators. In terms of the need of technical equipment adjustments, there may occur multiple factors affecting the choice of an equipment suitable replacement; for example, the size of a device and its output with a given size (weight) are important. In this regard, it is possible to consider a more efficient energy utilization in a manufacturing system. Considering the drives options, the power-to-weight ratio is the main characteristics thanks to which manipulation devices with power units comprising pneumatic artificial muscles start to be used in production facilities [1,2,3,4]
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