Abstract
AbstractThis paper introduces a novel type of pneumatic actuator, namely the pneumatic textile actuator (PTA). Although the operating principle is similar to pneumatic artificial muscles, design, fabrication and properties of PTAs show significant differences. PTAs consist of double-layered textiles, fabricated in one piece using the Jacquard weaving technology. By filling the chamber between the two layers with pressurised air, one obtains a low-weight, high-power pneumatic actuator at very low cost. The paper first describes the design, fabrication and properties of PTAs in general. Then, the characteristics of a specific PTA are determined experimentally. Moreover, we derive a mathematical model of the dynamic behaviour of the PTA. The model forms the basis for a motion control algorithm, combining flatness-based feedforward and linear feedback control. Finally, the performance of the controller is evaluated experimentally. The results indicate that PTAs are well suited for motion control tasks requiri...
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