nach oben

Erschienen in:

2022 | OriginalPaper | Buchkapitel

Antagonistic Actuation of Pneumatic Artificial Muscle (PAM) with Chain-Sprocket Mechanism

verfasst von : Bhaben Kalita, Arunjyoti Borgohain, Santosha K. Dwivedy

Erschienen in: Machines, Mechanism and Robotics

Verlag: Springer Singapore

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

In this work, a system has been designed with the help of a chain-sprocket mechanism to lift a load for particular applications with the help of a pneumatic artificial muscle (PAM) actuator. The system will mimic the human arm where one PAM and spring are in antagonistic arrangement just like the human biceps and triceps. The PAM behaves as the biceps and the spring as the triceps muscle to provide additional support to the system. The PAM will contract when the air pressure is supplied and actuate the system to reach the desired position. With the help of this system, the experiment can be performed to obtain various system parameters for a wide range of the muscle. The system is designed focusing on its flexibility for multiple types of experiments with different dimensions of pneumatic muscles. Finally, the hysteresis present in the muscle has been plotted and compared to verify the developed system. The developed system with the chain-sprocket mechanism is very useful to understand the dynamics of the PAM, and as well as the designer and researcher can use this for various applications in the field of medical and robotic industries.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Vorheriges Kapitel Big Turbo-Generator Shaft Vibrations Control Using Magnetorheological Fluid Damper

Nächstes Kapitel Deep Neural Network Approach for the Prediction of Journal Bearing Static Performance Characteristics

Tondu B, Lopez P (1997) The McKibben muscle and its use in actuating robot-arms showing similarities with human arm behaviour. Ind Robot 24(6):432–439CrossRef

Klute G, Czerniecki J, Hannaford B (2002) Artificial muscles: actuators for biorobotic systems. Int J Robot Res 21(4):295–309CrossRef

Daerden F, Lefeber D (2002) Pneumatic artificial muscles: actuators for robotics and automation. Eur J Mech Environ Eng 47(1):11–21

Tóthová M, Pitel J (2013) Dynamic model of pneumatic actuator based on advanced geometric muscle model. In: 9th International conference on computational cybernetics (ICCC). IEEE, Tihany, Hungary, pp 8–87

Lightner S, Lincoln R (2002) The fluidic muscle: a ‘new’ development. Int J Mod Eng 2(2):1–8

Hirose S, Ikuta K, Sato K (1989) Development of shape memory alloy actuator. improvement of output performance by the introduction of a σ-mechanism. J Ad Robot 3(2):89108

Szufnarowski F, Schneider A (2010) Compliant piezo-flexdrives for muscle-like, antagonistic actuation of robot joints. In: International conference on biomedical robotics and biomechatronics. IEEE, Tokyo, Japan, pp 381–388

Wereley N, Kothera C, Bubert E, Woods B, Gentry M, Vocke R (2009) Pneumatic artificial muscles for aerospace applications. In: 50th structures, structural dynamics, and materials conference 17th adaptive structures conference, p. 2140. AIAA, Palm Springs, California

Peele BN, Wallin TJ, Zhao H, Shepherd RF (2015) 3D printing antagonistic systems of artificial muscle using projection stereolithography. Bioinspir Biomim 10(5):055003CrossRef

10.

Knestel M, Hofer EP, Barillas SK, Rupp R (2008) The artificial muscle as an innovative actuator in rehabilitation robotics. IFAC Proc Vol 41(2):773–778CrossRef

11.

Balara M, Tóthová M (2012) Static and dynamic properties of the pneumatic actuator with artificial muscles. In: 10th Jubilee international symposium on intelligent systems and informatics. IEEE, Subotica, Serbia, pp 577–581

12.

Vocke RD III, Kothera CS, Wereley NM (2014) Mechanism and bias considerations for design of a bi-directional pneumatic artificial muscle actuator. Smart Mater Struct 23(12):125039CrossRef

13.

Tondu B, Ippolito S, Guiochet J, Daidie A (2005) A Seven-degrees-of-freedom robot-arm driven by pneumatic artificial muscles for humanoid robots. Int J Robot Res 24(4):257–274CrossRef

14.

Shin D, Sardellitti I, Khatib O (2008) A hybrid actuation approach for human-friendly robot design. In: International conference on robotics and automation. IEEE, Kobe, Japan, pp 1747–1752

15.

Shin D, Yeh X, Khatib O (2011) Variable radius pulley design methodology for pneumatic artificial muscle-based antagonistic actuation systems. In: International conference on intelligent robots and systems. IEEE, San Francisco, CA, USA, pp 1830–1835

16.

Woods BKS, Kothera CS, Wereley NM (2011) Wind tunnel testing of a helicopter rotor trailing edge flap actuated via pneumatic artificial muscles. J Intell Mater Syst Struct 22(13):1513–1528CrossRef

17.

Vocke III RD, Kothera CS, Chaudhuri A, Woods BKS, Wereley NM Design and testing of a high-specific work actuator using miniature pneumatic artificial muscles. J Intell Mater Syst Struct 23(3):365–378

18.

Zang X, Liu Y, Heng S, Lin Z, Zhao J (2017) Position control of a single pneumatic artificial muscle with hysteresis compesnsation based on modified Prandtl-Ishlinskii model. Bio-Med Mater Eng 28(2):131–140CrossRef

19.

Li H, Kawashima K, Tadano K, Ganguly S, Nakano S (2011) Achieving haptic perception in forceps’ manipulator using pneumatic artificial muscle. IEEE/ASME Trans Mechatron 18(1):74–85CrossRef

20.

Kalita B, Dwivedy SK (2019) Nonlinear dynamics of a parametrically excited pneumatic artificial muscle (PAM) actuator with simultaneous resonance condition. Mech Mach Theory 135:281–297CrossRef

21.

Kalita B, Dwivedy SK (2019) Dynamic analysis of pneumatic artificial muscle (PAM) actuator for rehabilitation with principal parametric resonance condition. Nonlinear Dyn 97(4):2271–2289CrossRef

Titel: Antagonistic Actuation of Pneumatic Artificial Muscle (PAM) with Chain-Sprocket Mechanism
verfasst von: Bhaben Kalita
Arunjyoti Borgohain
Santosha K. Dwivedy
Verlag: Springer Singapore
Buch: Machines, Mechanism and Robotics
Print ISBN: 978-981-16-0549-9

Electronic ISBN: 978-981-16-0550-5

Copyright-Jahr: 2022
DOI: https://doi.org/10.1007/978-981-16-0550-5_160

Premium Partner

Marktübersichten

Die im Laufe eines Jahres in der „adhäsion“ veröffentlichten Marktübersichten helfen Anwendern verschiedenster Branchen, sich einen gezielten Überblick über Lieferantenangebote zu verschaffen.

Zur Marktübersicht