NDLI: Modelling of the 4-axis kinematic manipulator airarm driven by pneumatic muscle actuators

Content Provider	IEEE Xplore Digital Library
Author	Eichhorn, M. Ament, C. Nguyen, T.T.
Copyright Year	2009
Description	Author affiliation: Technical University of Ilmenau, Institute of Automation and Systems Engineering, Ilmenau, 98684 Germany (Ament, C.; Nguyen, T.T.) \|\| National Research Council Canada, Institute for Ocean Technology, St. John's Newfoundland A1B 3T5, Canada, Arctic Avenue (Eichhorn, M.)
Abstract	This paper presents the dynamic modelling of a 4-axis manipulator arm driven by pneumatic muscle actuators. This manipulator, named Air Arm, was developed within a research project of Festo's Bio Learning Network 2008. The modelling of the pneumatic and mechanical components of the system is required for the design of the control structure and the determination of the control parameters as well as for the analysis of the system performance. The first part of the paper describes a model, which considers the important effects of the pneumatic plant and the highly nonlinear behavior of the pneumatic muscle. In this context, a readily invertible mathematical model that describes the force-pressure relationship of the muscle will be presented. A description of the kinematic system of the manipulator using Lagrangian mechanics will be presented in the second part of the paper.
Starting Page	1301
Ending Page	1307
File Size	806221
Page Count	7
File Format	PDF
ISBN	9781424447060
DOI	10.1109/ICCA.2009.5410288
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-09
Publisher Place	New Zealand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Muscles Pneumatic actuators Elbow Shoulder Wrist Manipulator dynamics Automation Manufacturing Systems engineering and theory
Content Type	Text
Resource Type	Article

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