A Study on the Bandwidth Characteristics of Pleated Pneumatic Artificial Muscles | Zendy

Rino Versluys | Zendy; Kristel Deckers | Zendy; Michaël Van Damme | Zendy; Ronald Van Ham | Zendy; Gunther Steenackers | Zendy; Patrick Guillaume | Zendy; Dirk Lefeber | Zendy

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A Study on the Bandwidth Characteristics of Pleated Pneumatic Artificial Muscles

Author(s) -

Rino Versluys,

Kristel Deckers,

Michaël Van Damme,

Ronald Van Ham,

Gunther Steenackers,

Patrick Guillaume,

Dirk Lefeber

Publication year - 2009

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1155/2009/298125

Subject(s) - pneumatic artificial muscles , sine wave , bandwidth (computing) , bode plot , artificial muscle , amplitude , control theory (sociology) , pneumatic actuator , engineering , acoustics , actuator , mechanical engineering , computer science , artificial intelligence , transfer function , physics , electrical engineering , control (management) , quantum mechanics , voltage , telecommunications

Pleated pneumatic artificial muscles have interesting properties that can be of considerable significance in robotics and automation. With a view to the potential use of pleated pneumatic artificial muscles as actuators for a fatigue test bench (high forces and small displacements), the bandwidth characteristics of a muscle-valve system were investigated. Bandwidth is commonly used for linear systems, as the Bode plot is independent of the amplitude of the input signal. However, due to the non-linear behaviour of pleated pneumatic artificial muscles, the system's gain becomes dependent on the amplitude of the input sine wave. As a result, only one Bode plot is insufficient to clearly describe or identify a non-linear system. In this study, the bandwidth of a muscle-valve system was assessed from two perspectives: a varying amplitude and a varying offset of the input sine wave. A brief introduction to pneumatic artificial muscles is given. The concept of pleated pneumatic artificial muscles is explained. Furthermore, the different test methods and experimental results are presented.

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