Skip to main content
SpringerLink
Log in

Torque Characteristics of Antagonistic Pneumatic Muscle Actuator with an Oval Cam

  • Conference paper
  • First Online:
Cybernetics and Mathematics Applications in Intelligent Systems (CSOC 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 574))

Included in the following conference series:

  • 1130 Accesses

Abstract

The current equipment for generating of the rotational motion by antagonistic pneumatic muscle actuator is standardly solved with a circular pulley, on which a flexible strip is strung and its ends are connected with artificial muscles. However, in this solution, torque and stiffness of such actuator decrease with increasing rotation of the actuator arm. This is due to the nonlinear decrease of muscles forces according to their contraction. By application of the oval cam, a smaller decrease in torque and thus the greater and symmetrical stiffness of the actuator with pneumatic artificial muscles can be obtained.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Chou, C.P., Hannaford, B.: Static and dynamic characteristics of McKibben Pneumatic artificial muscles. In: Proceedings of 1994 IEEE International Conference on Robotics and Automation, pp. 281–286, San Diego, USA (1994)

    Google Scholar 

  2. Daerden, F.: Conception and realization of Pleated Pneumatic artificial muscles and their use as compliant actuation elements, p. 176, Vrije Universiteit Brussel (1999)

    Google Scholar 

  3. Tondu, B., Lopez, P.: Modeling and control of McKibben artificial muscle robot actuators. Control Syst. Mag. 20(2), 15–38 (2000)

    Article  Google Scholar 

  4. Boržíková, J., Piteľ, J.: Nonlinearity of static characteristics of the antagonistic system. In: Proceedings of XXI International Educational Conference MMTT-21, pp. 196–197, Saratov State Technical University (2008)

    Google Scholar 

  5. Boržíková, J.: The determination of analytic dependence of static characteristic of PAM-based Antagonistic actuator. Acta Mechanica Slovaca 12(1-A), 227–230 (2008)

    Google Scholar 

  6. Sárosi, J., Piteľ, J., Šeminský, J.: Static force model-based stiffness model for Pneumatic muscle actuators. Int. J. Eng. Res. Afr. 18, 207–214 (2015)

    Article  Google Scholar 

  7. Boržíková, J.: Non-linear approximation of the static characteristic F = f(p,κ) of Antagonistic system. In: Proceeding of ARTEP 2008, pp. 4-1–5, TU Kosice (2008)

    Google Scholar 

  8. Tóthová, M., Piteľ, J., Hošovský, A., Sárosi, J.: Numerical approximation of static characteristics of McKibben Pneumatic artificial muscle. Int. J. Math. Comput. Simul. 9, 228–233 (2015)

    Google Scholar 

  9. Fluid muscles DMSP/MAS Actuators with Special Functions 2004/10 (2016). https://www.festo.com/cat/sk_sk/data/doc_sk/PDF/SK/MAS_SK.PDF

  10. Kerscher, T., Albiez, J., Zollner, J.M., Dillmann, R.: Evaluation of the dynamic model of fluidic muscles using quick-release. In: Proceeding of International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), pp. 637–642, Pisa (2006)

    Google Scholar 

  11. Balara, M., Piteľ, J., Tóthová, M., Vagaská, A.: Actuator with artificial muscle V. Patent No. 288296 (2015)

    Google Scholar 

  12. Tóthová, M., Balara, M.: Torque characteristics of actuator with Pneumatic artificial muscles and oval cam. Eng. EXTRA 19(12), 88–89 (2015)

    Google Scholar 

  13. Balara, M., Vagaská, A.: The torque moment of rotary actuator with artificial muscles. In: Proceeding of ARTEP 2013, pp. 31-1–10, TU Kosice (2013)

    Google Scholar 

  14. Piteľ, J., et al.: Torque characteristics of Pneumatic muscle actuator with eccentric pulley. Int. J. Mech. 8, 276–281 (2014)

    Google Scholar 

  15. Hrehová, S., Fechová, E.: Gain knowledge of selected properties of artificial muscles using tools of matlab. In: Proceedings of the 2014 15th International Carpathian Control Conference (ICCC 2014), pp. 164–167. IEEE, Danvers (2014)

    Google Scholar 

Download references

Acknowledgments

The research work is supported by the project KEGA 026TUKE-4/2016 “Implementation of Modern Information and Communication Technologies in Education of Natural Science and Technical Subjects at Technical Faculties”.

Author information

Authors and Affiliations

  1. Department of Mathematics, Informatics and Cybernetics, Faculty of Manufacturing Technologies, Technical University of Košice, Prešov, Slovakia

    Mária Tóthová & Alena Vagaská

Authors
  1. Mária Tóthová
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Alena Vagaská
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mária Tóthová .

Editor information

Editors and Affiliations

  1. Faculty of Applied Informatics, Tomas Bata University in Zlín Faculty of Applied Informatics, Zlín, Czech Republic

    Radek Silhavy

  2. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Roman Senkerik

  3. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zuzana Kominkova Oplatkova

  4. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zdenka Prokopova

  5. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Petr Silhavy

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Tóthová, M., Vagaská, A. (2017). Torque Characteristics of Antagonistic Pneumatic Muscle Actuator with an Oval Cam. In: Silhavy, R., Senkerik, R., Kominkova Oplatkova, Z., Prokopova, Z., Silhavy, P. (eds) Cybernetics and Mathematics Applications in Intelligent Systems. CSOC 2017. Advances in Intelligent Systems and Computing, vol 574. Springer, Cham. https://doi.org/10.1007/978-3-319-57264-2_9

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-57264-2_9

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-57263-5

  • Online ISBN: 978-3-319-57264-2

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation