A new method to predict contractile force for pneumatic muscle actuators

作者：Liu Kai^*; Ma Tao; Gu Baotong; Wang Yangwei; Zhao Dongbiao; Lu Yonghua

来源：Advanced Robotics, 2015, 29(17): 1127-1136.

DOI：10.1080/01691864.2015.1040836

• pneumatic muscle
• static model
• actuator
• elastic modulus

This study focuses on a new method based on energy conservation and experimental results to predict contractile force for pneumatic muscle actuators (PMAs). The quasi-static behaviour of PMAs was acquired through experimentation on a single actuator with a resting length of 100mm (3.94in.) and a diameter of 10mm (0.39in.) from Festo Corporation. Relationship between contractile force, pressure and displacement was measured in a quasi-static testing bed. With the use of energy conservation, the elastic modulus of the bladder and surrounded threads as a whole, which was expressed as E(p,epsilon)=a(p)+b(p)*epsilon(-0.86)+delta(p,epsilon), was calculated after establishing the model between contractile force and displacement. a(p) and b(p) in E(p,epsilon) can be expressed as the linear functions of internal pressure p, and epsilon is contraction ratio. delta(p,epsilon) is a compensation function. Then predicted contractile force F(p,epsilon) of the PMAs was acquired on the basis of the function of E(p,epsilon), and utilization ratios of the elastic modulus and predicted contractile force were shown under some level of errors. The method was finally validated by predicting the contractile force of the PMA in some given pressures.

• 出版日期2015-9-2
• 单位南京航空航天大学