Improved modelling and assessment of pneumatic muscle actuators

摘要

Traditional robotic/mechatronic design has successfully exploited the attributes of heavy mechanical systems engineering, but future scientific trends suggest a need for technology that will emulate natural systems. Among the most pressing of the requirements are actuation systems that can interact in a safer and more natural way. Pneumatic technology has many of the compliance forms needed for this softer interaction and a number of new systems based on McKibben muscles have been developed in recent years. In this paper a new model of operation of pneumatic muscle systems is developed. In particular, the model considers the distortion effects at the termination nodes and the radial pressure loss due to rubber elasticity. The new model is compared experimentation on a very large actuator and shows how this new model improves the assessment of forces and displacement that can be achieved by the actuator. The new model is compared against previous systems models.