Original scientific paper

https://doi.org/10.31803/tg-20250226133036

Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles

Juraj Benić orcid.org/0000-0001-7077-4931 ; School of Applied Mathematics and Computer Science, University of Osijek, Trg Ljudevita Gaja 6, 31000 Osijek, Croatia *
Andreas Šantek ; University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Ivana Lučića 5, 10000 Zagreb, Croatia
Željko Šitum orcid.org/0009-0007-0268-6500 ; University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Ivana Lučića 5, 10000 Zagreb, Croatia

* Corresponding author.

Abstract

A novel ball-and-plate mechanism actuated with pneumatic artificial muscles is presented in this paper. The pneumatic muscles are arranged in two antagonistic configuration pairs to generate torque around two axes of plate rotation. The ball-and-plate system is classified as an under-actuated, high-order nonlinear system, with additional nonlinearities introduced by the air compressibility of the pneumatic muscles. A nonlinear mathematical model of the ball-and-plate system has been derived, in which the proposed system is modelled as two ball-and-beam systems, each representing one direction of the ball’s movement. Along with the nonlinear equations of motion, a simplified dynamical model of the pneumatic muscles and the proportional valve is included. The linearized model is developed and represented in a state-space form, which is used for LQR controller synthesis. The proposed controller is tested through numerical simulations and experimentally validated on the developed ball-and-plate mechanism setup.

Keywords

ball and plate; LQR; mathematical modeling; pneumatics muscles

Hrčak ID:

330632

URI

https://hrcak.srce.hr/330632

Publication date:

1.6.2025.

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