Evaluation of Pneumatic Artificial Muscle Models forRobotic Applications

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Deveci E. T., Baysal C. V.

CILICIA INTERNATIONAL SYMPOSIUM ON ENGINEERING AND TECHNOLOGY CISET 2018, Mersin, Türkiye, 26 - 27 Ekim 2018, ss.93-97

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Mersin
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.93-97
  • Çukurova Üniversitesi Adresli: Evet

Özet

ABSTRACT
Pneumatic Artificial Muscles (PAM) are used in robotic applications due to their advantages such as high force to weight ratio, soft and flexible structure. However, PAMs have some disadvantages because of the inherent non-linearity in their structure and modeling difficulties. In this paper, an evaluation of Pneumatic Artificial Muscle Models to be used for robotic applications is presented. The modeling approaches such as empirical, static and phenomenological are analyzed in simulation and tests are performed on an experimental setup. The results indicate that models are not generalizable and highly nonlinear. Hence, there is still a strong requirement for simpler and the more conceptive models. To conclude, further modeling studies would resolve this problem.
Keywords: Pneumatic Artificial Muscle (PAM), PAM Modeling, Robotic Applications