Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles
This paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/2/776 |
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| author | Željko Šitum Srečko Herceg Nenad Bolf Željka Ujević Andrijić |
| author_facet | Željko Šitum Srečko Herceg Nenad Bolf Željka Ujević Andrijić |
| author_sort | Željko Šitum |
| collection | DOAJ |
| description | This paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. Different conceptions of the system realizations are analyzed using the morphological-matrix conceptual design framework and top-rated solution was practically realized. A simplified, control-oriented mathematical model of the manipulator arm driven by PAMs and controlled with a proportional control valve is derived. The model is then used for a controller design process. Fluidic muscles have great potential for industrial applications and assembly automation to actuate new types of robots and manipulators. Their characteristics, such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity, are worthy features for advanced manipulation systems. The experiments were carried out on a practically realized manipulator actuated by a pair of muscle actuators set into an antagonistic configuration. The setup also includes an original solution for the subsystem to add work pieces in the working space of the manipulator. |
| first_indexed | 2024-03-09T11:16:48Z |
| format | Article |
| id | doaj.art-51b29a9551ad43fc9197b72fc708e555 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T11:16:48Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-51b29a9551ad43fc9197b72fc708e5552023-12-01T00:27:25ZengMDPI AGSensors1424-82202023-01-0123277610.3390/s23020776Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial MusclesŽeljko Šitum0Srečko Herceg1Nenad Bolf2Željka Ujević Andrijić3Department of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10000 Zagreb, CroatiaDepartment of Measurements and Process Control, Faculty of Chemical Engineering and Technology, University of Zagreb, Savska cesta 16/5a, 10000 Zagreb, CroatiaDepartment of Measurements and Process Control, Faculty of Chemical Engineering and Technology, University of Zagreb, Savska cesta 16/5a, 10000 Zagreb, CroatiaDepartment of Measurements and Process Control, Faculty of Chemical Engineering and Technology, University of Zagreb, Savska cesta 16/5a, 10000 Zagreb, CroatiaThis paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. Different conceptions of the system realizations are analyzed using the morphological-matrix conceptual design framework and top-rated solution was practically realized. A simplified, control-oriented mathematical model of the manipulator arm driven by PAMs and controlled with a proportional control valve is derived. The model is then used for a controller design process. Fluidic muscles have great potential for industrial applications and assembly automation to actuate new types of robots and manipulators. Their characteristics, such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity, are worthy features for advanced manipulation systems. The experiments were carried out on a practically realized manipulator actuated by a pair of muscle actuators set into an antagonistic configuration. The setup also includes an original solution for the subsystem to add work pieces in the working space of the manipulator.https://www.mdpi.com/1424-8220/23/2/776pneumatic artificial muscle (PAM)manipulatorcontrolexperimental system |
| spellingShingle | Željko Šitum Srečko Herceg Nenad Bolf Željka Ujević Andrijić Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles Sensors pneumatic artificial muscle (PAM) manipulator control experimental system |
| title | Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles |
| title_full | Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles |
| title_fullStr | Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles |
| title_full_unstemmed | Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles |
| title_short | Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles |
| title_sort | design construction and control of a manipulator driven by pneumatic artificial muscles |
| topic | pneumatic artificial muscle (PAM) manipulator control experimental system |
| url | https://www.mdpi.com/1424-8220/23/2/776 |
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