Abstract
The aim of the article is to analyze the properties of artificial muscle system and effectiveness evaluation of the application of pulse width modulation in terms of improving the dynamic properties. In terms of dynamic properties, pneumatic artificial muscles represent a very complicated nonlinear structure. For this reason, the design of a robust positioning control system for pneumatic artificial muscle devices is demanding because, apart from the above-mentioned nonlinearity (because of air compressibility, air flow variability through valves, etc.), this is a time-and-parameter invariant system. The aim of the article is to evaluate the influence of pulse width modulation in pneumatic artificial muscle systems with regard to the accuracy and stability of the position achieved in the repeat mode, as well as the elimination of the adverse effect of the oscillation. The efficiency of the proposed control algorithm is demonstrated by experiments with external workload and no load.
Highlights
Pneumatic artificial muscle (PAM) is a special type of actuator that converts the energy of compressed air inside the muscle into mechanical energy in the form of contractions
As follows from the courses, the muscle pressure remains at the desired value within the tolerance of 0.05 bar defined in the pressure control mode
The PAM system positioning is characterized by high nonlinearities, variable stiffness, and time-varying control system
Summary
Pneumatic artificial muscle (PAM) is a special type of actuator that converts the energy of compressed air inside the muscle into mechanical energy in the form of contractions. Their main advantage is the ability to mimic muscular functions, and there is the perspective of their use.[2] They are especially applicable where electric and hydraulic drives fail because of their excessive weight, stiffness, or volume at low power capacity For these reasons, PAMs are finding increasing use in many industrial applications such as robotics, robotic hands, and other types of applications such as medicine in biomimetic devices mimicking skeletal muscles.[1,3,4,5,6] PAMs are characterized by a high power-to-weight ratio and sufficient stability of elasticity.[1] For wide use of these actuators in the manipulator-like applications, precise positioning control is required.[7] the modeling and design of a precise, stable, and robust positioning control system for PAM applications is challenging because it is a highly nonlinear, time-varying control
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