Variable Recruitment Testing of Pneumatic Artificial Muscles for Robotic Manipulators

Autor:	Curt S. Kothera, Norman M. Wereley, Ryan M. Robinson
Rok vydání:	2015
Předmět:	Engineering business.industry Payload Control engineering Motion control Computer Science Applications Nonlinear system Pneumatic artificial muscles Control and Systems Engineering Control theory Bundle Torque Robot Electrical and Electronic Engineering business Actuator
Zdroj:	IEEE/ASME Transactions on Mechatronics. 20:1642-1652
ISSN:	1941-014X 1083-4435
DOI:	10.1109/tmech.2014.2341660
Popis:	This paper investigates the orderly recruitment of pneumatic artificial muscles for efficient torque production in a robotic manipulator. Pneumatic artificial muscles (PAMs) are arranged in a parallel bundle, and independently-controlled “motor units” are employed to imitate the structure and function of human skeletal muscle. Simulated cycling tests are conducted on a model of the robotic manipulator to quantify the benefits of variable recruitment, and experimental testing is performed to validate the simulated predictions. Results reveal a distinct relationship between recruitment and system efficiency. Key factors influencing the value of a variable recruitment strategy include nonlinear PAM bladder elasticity, pneumatic losses, and dissipative forces in the robotic joint. Recruitment guidelines are proposed to maximize efficiency over a range of payload masses. The potential challenges associated with maintaining smooth motion control during discrete transitions in recruitment are also identified and discussed.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::d661404f5106159dab117ee5fba1c620 https://doi.org/10.1109/tmech.2014.2341660 Zobrazit plný text záznamu