Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles.

ABSTRACT: 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 muscl

SUBMITTER: Situm Z 

PROVIDER: S-EPMC9866138 | biostudies-literature | 2023 Jan

REPOSITORIES: biostudies-literature