Abstract
The mechanical response of pneumatic artificial muscles is analyzed in transient and periodic conditions, assuming the inextensibility of the sheathing fibres and considering the influence of the texture geometry, of the dissipation due to the mutual sliding between the braids and of the stress field inside the bladder thickness, where the constituent elastomer is regarded as a two-parameter Mooney–Rivlin material. The polytropic exponent of the thermodynamic air evolution inside the muscle during the charging and discharging phases may be properly chosen depending on the working frequency. The muscle end shape is taken into account profiling the meridian section by a simple m-degree parabolic law. The estimate of the mechanical and geometrical parameters of each individual muscle permits simulating its response in several unsteady operations and identifying its hysteretic behaviour under periodic pressure excitation. The comparison with several experimental results present in the literature shows a very acceptable agreement.
Similar content being viewed by others
References
Gaylord RH (1958) Fluid actuated motor system and stroking device. U.S. Patent 2844126, July 22, 1958
Chou CP, Hannaford B (1996) Measurement and modelling of McKibben pneumatic artificial muscles. IEEE Trans Robot Autom 12(1):90–102
Tondu B, Lopez P (2000) Modelling and control of McKibben artificial muscle robot actuators. IEEE Control Syst Mag 20(2):15–38
Tsagarakis N, Caldwell DG (2000) Improved modelling and assessment of pneumatic muscle actuators. Proc Int Conf Robot Autom 4:3641–3646
Kogiso K, Naito R, Sugimoto K (2013) Gray-box identification of McKibben pneumatic artificial muscle using interpolation of load-dependent parameters. In: 2013 IEEE/ASME international conference on advanced intelligent mechatronics (AIM), Wollongong, July 9–12
Klute GK, Hannaford B (2000) Accounting for elastic energy storage in McKibben artificial muscle actuators. J Dyn Syst Meas Control 122(2):386–388
Mooney M (1940) A theory of large elastic deformation. J Appl Phys 11(9):582–592
Rivlin RS (1948) Large elastic deformations of isotropic materials. IV. Further developments of the general theory. Philos Trans R Soc Lond A 241(835):379–397
Doumit M, Fahim A, Munro M (2009) Analytical modelling and experimental validation of the braided pneumatic muscle. IEEE Trans Robot 25(6):1282–1291
Kang Bong-Soo (2014) Compliance characteristic and force control of antagonistic actuation by pneumatic artificial muscles. Meccanica 49:565–574
Sorge F, Cammalleri M (2013) A theoretical approach to pneumatic muscle mechanics. In: 2013 IEEE/ASME international conference on advanced intelligent mechatronics (AIM), Wollongong, July 9–12
Daniels FB (1947) Acoustical impedance of enclosures. J Acoust Soc Am 19(4):569–571
Cangemi G (2011) Caratterizzazione di muscoli artificiali pneumatici per applicazioni robotiche (in Italian). Degree Thesis, F. D’Ippolito supervisor, DEIM, University of Palermo, Palermo
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Sorge, F. Dynamical behaviour of pneumatic artificial muscles. Meccanica 50, 1371–1386 (2015). https://doi.org/10.1007/s11012-014-0084-x
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11012-014-0084-x