Naslov
Pneumatic muscle actuators within robotic and mechatronic systems

Autori
Šitum, Željko ; Trslić, Petar ; Trivić, Denis ; Štahan, Valentino ; Brezak, Hrvoje ; Sremić, Dominik

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of International Conference Fluid Power, Fluidna tehnika 2015, 17th-18th September 2015, Congress centre Habakuk, Maribor, Slovenia / Lovrec, Darko ; Tič, Vito - Maribor : Fakultet strojarstva i brodogradnje Sveučilišta u Zagrebu, 2015, 175-188

ISBN
978-961-248-492-7

Skup
INTERNATIONAL Conference Fluid Power 2015 Maribor

Mjesto i datum
Maribor, Slovenija, 17.09.2015. - 18.09.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
pneumatic muscle actuators; four-legged walking robot; active ankle-foot orthosis; ball and beam mechanism; manipulator arm

Sažetak
Pneumatic artificial muscles (PAMs) as soft, lightweight and compliant actuators have great potential in applications for the actuations of new types of robots and manipulators. The favourable characteristics of fluidic muscles, such as high power-to-weight ratio and safe interaction with humans are also very suitable during the process of musculoskeletally rehabilitating patients and are often used in making artificial orthoses. This technology, despite the problems of control relating to nonlinear phenomena, may also have wide future applications within industrial and mechatronic systems. This paper presents several experimental systems actuated by PAMs, which have been designed as test models within the fields of mobile robots, mechatronics, fluid power systems and the feedback control education of mechanical engineering students. This paper first presents the design and construction of a four legged walking robot actuated by pneumatic muscles. The robot is a fully autonomous system with a wireless application platform and can be controlled using a cell phone. Then the paper describes the design and construction of the prototype of an actively-powered ankle foot orthosis. This orthosis device actuated by a single PAM is able to provide the appropriate functions required during the rehabilitations of patients and the loss of mobility. Then the paper focuses on the design and control of a ball and beam system with an antagonistic muscle pair for generating the necessary torque for beam rotation. This mechatronic balancing mechanism falls into the category of unstable, under- actuated, multivariable systems with highly nonlinear dynamics. The final section of the article presents the design and control of a single-joint manipulator arm with pneumatic muscle actuators that enable some new features for the controlled systems.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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