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Characterisation of a phenomenological model for commercial pneumatic muscle actuators

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  • J.L. Serres
  • D.B. Reynolds
  • C.A. Phillips
  • M.J. Gerschutz
  • D.W. Repperger

Abstract

This study focuses on the parameter characterisation of a three-element phenomenological model for commercially available pneumatic muscle actuators (PMAs). This model consists of a spring, damping and contractile element arranged in parallel. Data collected from static loading, contraction and relaxation experiments were fitted to theoretical solutions of the governing equation for the three-element model resulting in prediction profiles for the spring, damping and contractile force coefficient. For the spring coefficient, K N/mm, the following relationships were found: K = 32.7 − 0.0321P for 150 ≤ P ≤ 314 kPa and K = 17 + 0.0179P for 314 ≤ P ≤ 550 kPa. For the damping coefficient, B Ns/mm, the following relationship was found during contraction: B = 2.90 for 150 ≤ P ≤ 550 kPa. During relaxation, B = 1.57 for 150 ≤ P ≤ 372 kPa and B = 0.311 + 0.00338P for 372 ≤ P ≤ 550. The following relationship for the contractile force coefficient, Fce N, was also determined: Fce = 2.91P+44.6 for 150 ≤ P ≤ 550 kPa. The model was then validated by reasonably predicting the response of the PMA to a triangular wave input in pressure under a constant load on a dynamic test station.

Suggested Citation

  • J.L. Serres & D.B. Reynolds & C.A. Phillips & M.J. Gerschutz & D.W. Repperger, 2009. "Characterisation of a phenomenological model for commercial pneumatic muscle actuators," Computer Methods in Biomechanics and Biomedical Engineering, Taylor & Francis Journals, vol. 12(4), pages 423-430.
    • Handle: RePEc:taf:gcmbxx:v:12:y:2009:i:4:p:423-430
    DOI: 10.1080/10255840802654327
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    Cited by:

    1. Lyubov Kotkas & Anatolij Donskoy & Aleksandr Zharkovskii & Nikita Zhurkin, 2024. "The Distributed Parameter Model of an Electro-Pneumatic System Actuated by Pneumatic Artificial Muscles with PWM-Based Position Control," Energies, MDPI, vol. 17(14), pages 1-20, July.

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