Preliminary communication

Modelling and assessment of pneumatic artificial muscle

Li Songbo ; School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, P.R. CHINA
Jin Jian ; Department of Mechanical Automation, Shanghai University, Shanghai, P.R. CHINA
He Qingwei ; Department of Mechanical Automation, Shanghai University, Shanghai, P.R. CHINA

Abstract

The pneumatic artificial muscle (PAM) being a new type of actuator is widespread used in engineering field because it possesses the attractive attributes of safe operation, low cost, high output force to volume. It is a prime requirement to establish an effective theoretical model to predict the performance of the PAM as well as other actuators. In this paper a new PAM model is established by employing conservation energy and the Mooney-Rivlin strain energy function for the rubber of PAM. This model is compared with the previous models and the experimental results and it shows that the model truly improves the assessment of forces and contraction that can be achieved by the PAM. However, the significant discrepancy still exists between the theoretical model and the experiment. A number of factors, like friction force, which result in the discrepancy are discussed

Keywords

pneumatic artificial muscle, strain energy, Mooney-Rivlin model, testing

Hrčak ID:

295345

URI

https://hrcak.srce.hr/295345

Publication date:

9.12.2006.

Visits: 169 *