Abstract
The paper presents the methods and results of an experimental study that highlights the behavior of a pneumatic actuator under different pressures and with different loads applied. One important challenge that occurs in the application of pneumatic muscles is the phenomenon of hysteresis, which causes a nonlinear relationship between the input–output values. The aim of this study is to identify the occurrence of hysteresis in the operation of a small pneumatic muscle in different conditions. Thus, different loads are attached to the free end of a pneumatic muscle and different successive pressures are applied in order to examine the hysteresis of the contraction ratio when the muscle is inflated and then deflated. The obtained equations that describe the relationship between the input pressure and the axial contraction are significant for reaching a high-performance position control. In this regard, the article proposes a solution to increase positioning accuracy based on pressure control using a proportional pressure regulator and a programmable logic controller.
Highlights
Nowadays, the use of pneumatic muscles is more and more common due to the advantages they have
A pneumatic muscle actuator (PMA) is a flexible tube made of an aramid fiber-reinforced rubber composite material
Depending on the internal pressure applied to the pneumatic muscle, it increases in diameter and decreases in length
Summary
The use of pneumatic muscles is more and more common due to the advantages they have. A pneumatic muscle actuator (PMA) is a flexible tube made of an aramid fiber-reinforced rubber composite material. The working principle of a pneumatic muscle is correlated to its construction. The development of the pneumatic muscle is correlated to the necessity of obtaining alternatives for actuators, such as a simple or diaphragm cylinder, especially in the case of large dimensions, which involves higher weight and difficulties in stroke controlling. Garasiev developed the pneumatic muscle [1], interest in these types of actuators increased, and many other types have appeared. In 2002, the company Festo submitted a patent for “Actuating means”, a braided pneumatic muscle with robust end-fittings that allow it to be commercialized [2]. The companies Shadow Robot Company and Merlin Systems Corporation produced braided pneumatic muscles on a commercial scale [3]
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