Version 1
: Received: 12 November 2023 / Approved: 14 November 2023 / Online: 14 November 2023 (11:27:14 CET)
How to cite:
Chivu, C.; Chivu, C.; Georgescu, C.; Ichim, I. A Mechanical Model of Pneumatic Muscle: Modeling, Simulation, Control and Experimental Validation. Preprints2023, 2023110860. https://doi.org/10.20944/preprints202311.0860.v1
Chivu, C.; Chivu, C.; Georgescu, C.; Ichim, I. A Mechanical Model of Pneumatic Muscle: Modeling, Simulation, Control and Experimental Validation. Preprints 2023, 2023110860. https://doi.org/10.20944/preprints202311.0860.v1
Chivu, C.; Chivu, C.; Georgescu, C.; Ichim, I. A Mechanical Model of Pneumatic Muscle: Modeling, Simulation, Control and Experimental Validation. Preprints2023, 2023110860. https://doi.org/10.20944/preprints202311.0860.v1
APA Style
Chivu, C., Chivu, C., Georgescu, C., & Ichim, I. (2023). A Mechanical Model of Pneumatic Muscle: Modeling, Simulation, Control and Experimental Validation. Preprints. https://doi.org/10.20944/preprints202311.0860.v1
Chicago/Turabian Style
Chivu, C., Cătălin Georgescu and Izabella Ichim. 2023 "A Mechanical Model of Pneumatic Muscle: Modeling, Simulation, Control and Experimental Validation" Preprints. https://doi.org/10.20944/preprints202311.0860.v1
Abstract
The pneumatic muscle is an actuator well known for its inherited compliance. In the last years, there have been a lot of applications of these actuators, mainly oriented toward medical devices. However, there are few papers that use muscle as a model associated with mechanical structures. These actuators are difficult to control because their stiffness depends on the applied pressure, determining a non-linear behavior. This article presents a model, created in Matlab, considering the muscle as a kinematic structure. The model is simulated as an individual structure and a PID controller is applied to test the response. Then, these results are validated by experimental tests done in the laboratory on different types of muscles. Comparison results validate the accuracy of the model.
Keywords
automatic control; circuit simulation; Matlab; pneumatic actuators; pneumatics systems
Subject
Engineering, Industrial and Manufacturing Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
