Abstract
Inherent hysteresis behaviour of pressurized artificial muscles is complicated to understand and handle, calling for experimental research that allows the modelling of this phenomenon. The paper presents the results of the experimental study of the hysteretic behaviour of a small-size pneumatic muscle. The specific hysteresis loops were revealed by isotonic and isometric tests. Starting from hypothesis according to that the tube used for the pneumatic muscle is made entirely of aramid fibres enveloped by an elastomer material that merely ensures their airtightness, the paper presents the hysteresis curves that describe the radial and axial dimensional modifications as well as the variation of the developed forces for different feed pressures. The obtained third-degree polynomial equations underlie the configuration of high-performance positioning systems.
Highlights
Pressurized artificial muscles (PAM) are contractile actuators operated by means of liquid or gas mediums
Certain types of synthetic fibre reinforced elastomers lend themselves for building pressurized artificial muscles capable of a performance that exceeds that of a number of pneumatic cylinders
Modulus of aramid fibresfibres is significantly greater than that chloroprene rubberrubber for which that
Summary
Pressurized artificial muscles (PAM) are contractile actuators operated by means of liquid or gas mediums. The occurrence of hysteresis is explained by internal tensions generated in the material of the elastic tube, while it deforms when subjected to the pressure of compressed air, and by internal friction between the inserted fibres and by the friction between these fibres and their enveloping elastic material These are the causes responsible for the inertia that occurs at the motion onset of the pneumatic muscle’s free end, a phenomenon that can be quantified by the so-called threshold pressure. The disadvantage of the known models is that they are specific only for the categories of muscles they were developed for and are not suitable for generalisation Several researchers, such as Zhao et al [19], Zhu et al [20], or Schreiber et al [21] studied the possibilities of compensating the specific non-linearities of systems actuated by pneumatic muscles caused by hysteresis.
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