Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles
This article presents static and dynamic characteristics of artificial pneumatic muscles. The research stance and the methodology for their determination are described. A mathematical model of a pneumatic muscle has been proposed, having two inputs—the force generated by the muscle and the displacem...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-10-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/21/11024 |
| _version_ | 1797469184613941248 |
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| author | Dawid Sebastian Pietrala Pawel Andrzej Laski |
| author_facet | Dawid Sebastian Pietrala Pawel Andrzej Laski |
| author_sort | Dawid Sebastian Pietrala |
| collection | DOAJ |
| description | This article presents static and dynamic characteristics of artificial pneumatic muscles. The research stance and the methodology for their determination are described. A mathematical model of a pneumatic muscle has been proposed, having two inputs—the force generated by the muscle and the displacement of the muscle tip, and one output—the valve control voltage. The quality of object mapping was verified by a mathematical model for various trajectories. Then, the control system for the moment servo drive force was composed of two pneumatic muscles working in opposite directions connected by a toothed belt gear. The servo drive was verified and evaluated. |
| first_indexed | 2024-03-09T19:17:52Z |
| format | Article |
| id | doaj.art-2aab31d9d5f14b128c7bb219051f40f6 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T19:17:52Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-2aab31d9d5f14b128c7bb219051f40f62023-11-24T03:36:43ZengMDPI AGApplied Sciences2076-34172022-10-0112211102410.3390/app122111024Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic MusclesDawid Sebastian Pietrala0Pawel Andrzej Laski1Department of Automation and Robotics, Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, 25-314 Kielce, PolandDepartment of Automation and Robotics, Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, 25-314 Kielce, PolandThis article presents static and dynamic characteristics of artificial pneumatic muscles. The research stance and the methodology for their determination are described. A mathematical model of a pneumatic muscle has been proposed, having two inputs—the force generated by the muscle and the displacement of the muscle tip, and one output—the valve control voltage. The quality of object mapping was verified by a mathematical model for various trajectories. Then, the control system for the moment servo drive force was composed of two pneumatic muscles working in opposite directions connected by a toothed belt gear. The servo drive was verified and evaluated.https://www.mdpi.com/2076-3417/12/21/11024pneumatic musclestatic characteristicsdynamic characteristicsmuscular servo drive |
| spellingShingle | Dawid Sebastian Pietrala Pawel Andrzej Laski Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles Applied Sciences pneumatic muscle static characteristics dynamic characteristics muscular servo drive |
| title | Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles |
| title_full | Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles |
| title_fullStr | Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles |
| title_full_unstemmed | Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles |
| title_short | Design and Control of a Pneumatic Muscle Servo Drive Containing Its Own Pneumatic Muscles |
| title_sort | design and control of a pneumatic muscle servo drive containing its own pneumatic muscles |
| topic | pneumatic muscle static characteristics dynamic characteristics muscular servo drive |
| url | https://www.mdpi.com/2076-3417/12/21/11024 |
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