Precision Positioning of Mechanisms with Pneumatic Artificial Muscles

DOI

Bibliographic Information

Other Title
  • 空気圧人工筋アクチュエータを用いた機構の精密位置決め

Abstract

Pneumatic artificial muscles (PAMs) have many advantages for examples, a high power-to-weight ratio and a high degree of safety, in contrast to electric motors. However, their significant nonlinear characteristics limit their positioning accuracies. This paper describes a practical controller design for precision positioning of PAM systems and experimental results of the control system designed using the method. As the first step of this research, a linear motion mechanism with a pair of McKibben PAMs is constructed and its static and dynamic input-output characteristics are examined experimentally. Next, for precision positioning, the practical controller design procedure is discussed and determined based on the characteristics. The proposed controller design procedure can be easily implemented into PAM mechanisms without an exact dynamic model. The experimental results using the designed controller show that the positioning error is lower than 1 μm.

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Keywords

Details 詳細情報について

  • CRID
    1390282680634127360
  • NII Article ID
    130005479496
  • DOI
    10.11522/pscjspe.2014a.0_413
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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