Restoring Model of a Pneumatic Artificial Muscle with Structure Parameters: Analysis and Identification

This paper will develop the restoring model of a commercial pneumatic artificial muscle (PAM) based on a McKibben structure, which comprises an elastic element connected with a viscoelastic element in parallel. The elastic element is generated by compressed air inside the rubber bellow; meanwhile, t...

Full description

Saved in:
Bibliographic Details
Published in:Actuators 2024-09, Vol.13 (9), p.355
Main Authors: Nguyen, Minh Ky, Trinh, Van Chon, Vo, Ngoc Yen Phuong, Le, Thanh Danh
Format: Article
Language:English
Subjects:
Algorithms
Artificial muscles
Bladder
Compressed air
Elastic analysis
Equations of motion
Hydrologic cycle
Hysteresis loops
Parameter identification
pneumatic artificial muscle
restoring model
Rubber
Viscoelasticity
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper will develop the restoring model of a commercial pneumatic artificial muscle (PAM) based on a McKibben structure, which comprises an elastic element connected with a viscoelastic element in parallel. The elastic element is generated by compressed air inside the rubber bellow; meanwhile, the viscoelasticity is affected by the rubber material. In particular, the viscoelastic property of the rubber material is proposed based on the Maxwell model. Instead of derivative of integer orders, an equation of motion of the fractional model is introduced to better capture the amplitude- and frequency-dependent property of the viscoelasticity of the PAM. The equation expressing the hysteresis loop due to the viscoelasticity of the PAM material will then be analyzed and built. A water cycle algorithm is employed to determine the optimal set of the proposed model. To evaluate the effectiveness of the proposed model, a comparison between the simulation calculated from the proposed model and experimental data is considered under harmonic force excitation. This study’s results give potential insight into the field of system dynamic analysis with the elastic element being PAM.
ISSN:2076-0825
2076-0825
DOI:10.3390/act13090355