Abstract
ABSTRACTThe soft actuator represents a valuable addition to the robotics research area in last two decades. These actuators provide significant features such as lightweight, softness, high force to weight ratio and the ability to form in different shapes. This article presents a new length model to the single extensor pneumatic muscle actuator (PMA) which is depended on the constructed parameters and the air pressure. On the other hand, the tensile force formula of the contractor actuator has been modified to describe the extension force of the extensor PMA. The parallel structure of four extensor actuators is designed and implemented as continuum arm. The bending behaviour of the proposed arm is illustrated and modelled mathematically. The length model of the single extensor actuator has validated by the comparison between the model and the experiment data and then a neural network (NN) control system is applied to control the elongation of the extensor PMA. The kinematics for the proposed continuum arm are presented to describe the bending of the arm and its direction.
Highlights
Soft actuators have grown commonly reputation among researchers, mainly in the last two decades
The Air-Octor continuum arm by McMahan, Jones, and Walker (2005) on the other hand, is much less complex to build and control because of the single central member and the use of cables as actuators but lacks flexibility and strength due to high cable friction which cannot be overcome by low pressure in the central member, resulting in cable binding which in turn causes undesirable movements of the trunk
A neural network (NN) controller is designed by Matlab to control the length of single extensor pneumatic muscle actuator (PMA) by controlling the air filling and venting of the actuator via a 3/3 solenoid (Matrix) valve and an Arduino Mega 2560
Summary
Soft actuators have grown commonly reputation among researchers, mainly in the last two decades. The Air-Octor continuum arm by McMahan, Jones, and Walker (2005) on the other hand, is much less complex to build and control because of the single central member and the use of cables as actuators but lacks flexibility and strength due to high cable friction which cannot be overcome by low pressure in the central member, resulting in cable binding which in turn causes undesirable movements of the trunk Another design has been implemented by Neppalli and Jones (2007) by using single extensor pneumatic actuator and three cables to arrange the direction of the free end. Section three illustrates the elongation performances and the mathematical model of the extensor PMA due to the variations in air pressure for three different length actuators.
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