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Vol: 57(71) No: 3 / September 2012 New Force Functions for the Force Generated by Different Fluidic Muscles József Sárosi Technical Institute, University of Szeged, Faculty of Engineering, Mars ter 7, 6724 Szeged, Hungary, phone: (3662) 546-571, e-mail: sarosi@mk.u-szeged.hu, web: http://www.mk.u-szeged.hu/szte_profiles/9 Keywords: Fluidic Muscle, Static Model, Force Equation, MS Excel Solver Abstract In industrial environment and robotics different types of pneumatic actuators - e. g. cylinders and pneumatic motors - can be found commonly to date. A less well-known type is that of the so-called pneumatic artificial muscles (PAMs). Pneumatic artificial muscle is a membrane that will expand radially and contract axially when inflated, while generating high pulling force along the longitudinal axis. Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies, e. g. Fluidic Muscle manufactured by Festo Company. There are a lot of advantages of PAMs like the high strength, good power-weight ratio, low price, little maintenance needed, great compliance, compactness, inherent safety and usage in rough environments. The main disadvantage of these muscles is that their dynamic behaviour is highly nonlinear. The layout of this paper is as follows. Section I (Introduction) is a short review of the professional literatures. Section II (Experimental Set-up for Analysis of Fluidic Muscles) is devoted to display our test bed and LabVIEW program. Section III (Static Modelling of Pneumatic Artificial Muscles) describes several force equations and our newest models for the force generated by Fluidic Muscles. Section IV (Experimental Results) compares the measured and theoretical data. Finally, Section V (Conclusion and Future Work) gives the investigations we plan. References [1] D. G. Caldwell, A. Razak and M. J. Goodwin, “Braided Pneumatic Muscle Actuators”, Proceedings of the IFAC Conference on Intelligent Autonomous Vehicles, Southampton, UK, 1993, pp. 507-512. [2] C. P. Chou and B. Hannaford, “Measurement and Modeling of McKibben Pneumatic Artificial Muscles”, IEEE Transactions on Robotics and Automation, vol. 12, no. 1, pp. 90-102, 1996/ [3] F. Daerden, “Conception and Realization of Pleated Artificial Muscles and Their Use as Compliant Actuation Elements”, PhD Dissertation, Vrije Universiteit Brussel, Faculteit Toegepaste Wetenschappen Vakgroep Werktuigkunde, Bruxelles, Belgium, 1999, pp. 5-33. [4] B. Tondu and P. Lopez, “Modeling and Control of McKibben Artificial Muscle Robot Actuators”, IEEE Control Systems Magazine, vol. 20, no. 2, pp. 15-38, 2000. [5] F. Daerden and D. Lefeber, “Pneumatic Artificial Muscles: Actuator for Robotics and Automation”, European Journal of Mechanical and Environmental Engineering, vol. 47, pp. 10-21, 2002. [6] M. Balara and A. Petík, “The Properties of the Actuators with Pneumatic Artificial Muscles”, Journal of Cybernetics and Informatics, vol. 4, pp. 1-15, 2004. [7] N. Yee and G. Coghill, “Modelling of a Novel Rotary Pneumatic Muscle”, Proceedings of Australiasian Conference on Robotics and Automation, Auckland, New Zealand, 2002, pp. 186-190. [8] T. Kerscher, J. Albiez, J. M. Zöllner and R. Dillmann, “FLUMUT - Dynamic Modelling of Fluidic Muscles Using Quick-Release”, Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines, Ilmenau, Germany, 2005, pp. 1-6. [9] R. Ramasamy, M. R. Juhari, M. R. Mamat, S. Yaacob, N. F. Mohd Nasir and M. Sugisaka, “An Application of Finite Element Modeling to Pneumatic Artificial Muscle”, American Journal of Applied Sciences, vol. 2, no. 11, pp. 1504-1508, 2005. [10] J. Borzikova, M. Balara and J. Pitel, “The Mathematical Model of Contraction Characteristic k = (F, p) of the Pneumatic Artificial Muscle”, Proceedings of XXXII. Seminar ASR \'2007 “Instruments and Control”, Farana, Smutný, Kočí & Babiuch, Ostrava, Czech Republic, 2007, pp. 21-25. [11] J. Sárosi and Z. Fabulya: “New Function Approximation for the Force Generated by Fluidic Muscle”, International Journal of Engineering, Annals of Faculty of Engineering Hunedoara, vol. 10, no. 2, pp. 105-110, 2012. [12] J. Sárosi, Z. Fabulya, G. Szabó and P. Szendrő: ”Investigations of Precise Function Approximation for the Force of Fluidic Muscle in MS Excel”, Review of Faculty of Engineering (International Conference on Science and Technique in the Agri-Food Business, ICoSTAF 2012), vol. 2012/3-4, pp. 1-8, 2012. |