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Design and Control of a Pneumatic Hybrid Actuator
Author(s) -
Dhanu Singh M.,
Liem K.,
Kecskeméthy A.,
Neumann R.
Publication year - 2005
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200510225
Subject(s) - actuator , artificial muscle , pneumatic actuator , control theory (sociology) , pneumatic flow control , slip (aerodynamics) , robotics , testbed , stiffness , rotary actuator , computer science , pneumatic artificial muscles , control engineering , engineering , mechanical engineering , robot , structural engineering , artificial intelligence , control (management) , aerospace engineering , computer network
To simulate arbitrary force/displacement relationships, a hybrid actuator consisting of a .uidic muscle and a linear pressure spring is presented. Fluidic Muscles are interesting in their use as actuators in robotics, since they have a high power/weight ratio, a slip‐stick free motion and a long durability. The operating point is de.ned as the half contracted‐stroke of the muscle. The present paper describes a procedure to simulate virtual stiffness of a linear actuator by choosing an operating point of the pre‐stressed muscle and applying PID Control to produce desired forces as function of state. The results are presented for a testbed. It is shown how the aforementioned control scheme produces a rapid and .exible stiffnes simulation. The device can be employed for later use in general environments such as motion simulations. (© 2005 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)