Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot
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The performance of a pneumatic muscle actuator, invented by Jim Hennequin and used in a prototype wheelchair-mounted robot arm designed by the first author is reported. Experimental measurements were made of the output torque versus rotary motion and internal pressure. The torque available for a muscle of size 60 mm width by 90 mm length ranges from 1 to 15 Nm. The rotary stiffness of this muscle is 0.081 Nm/deg. A theory based on thermodynamic principles indicates that the efficiency of the pneumatic muscle actuator reaches a maximum of 67%. A simulation model of the dynamic behaviour of the muscle attached to the robot arm using one-dimensional flow theory was written in ACSL (Advanced Continuous Simulation Language). The resultant simulation gives good agreement to within ± 5% of the experimental values.
|Keywords (uncontrolled):||Actuator; pneumatic; rehabilitation; robotics; simulation|
|Research Areas:||A. > School of Science and Technology|
|Notes on copyright:||Copyright © 1995 Published by Elsevier B.V.|
|Depositing User:||Dr Stephen Prior|
|Date Deposited:||10 Jan 2012 06:36|
|Last Modified:||13 Oct 2016 14:23|
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