Abstract
This study is concerned with comparative analyses and modeling of both tap-water and pneumatic drive McKibben type artificial muscles. McKibben type pneumatic artificial muscles have been widely used in various fields, especially medical and welfare fields. On the other hand, tap-water drive muscles are proposed because conventional pneumatic muscles require a compressor to generate compressed air. In this paper, to examine some static and dynamic characteristics of them such as contraction ratio, time-delay, and time constant, an experimental setup, which can be used to control the tap-water and pneumatic drive muscles, is constructed and then the differences on the characteristics of them are examined by comparative analyses. It is useful to investigate the characteristics in order to figure out the availability and suitable applications of them. In addition, difference on modeling are investigated by using system identification technique. As a result, the identified model of the pneumatic drive muscle is more complex than the model of the tap-water drive muscle because of nonlinearity due to compressibility of working medium.
| Original language | English |
|---|---|
| Pages (from-to) | 463-466 |
| Number of pages | 4 |
| Journal | International Journal of Mechanical Engineering and Robotics Research |
| Volume | 6 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2017 Nov 1 |
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Keywords
- McKibben type artificial muscle
- Modeling
- Pneumatic drive system
- Tap-water drive system
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering
- Artificial Intelligence
Cite this
Analysis and modeling of tap-water/pneumatic drive McKibben type artificial muscles. / Kobayashi, Wataru; Dohta, Shujiro; Akagi, Tetsuya; Ito, Kazuhisa.
In: International Journal of Mechanical Engineering and Robotics Research, Vol. 6, No. 6, 01.11.2017, p. 463-466.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Analysis and modeling of tap-water/pneumatic drive McKibben type artificial muscles
AU - Kobayashi, Wataru
AU - Dohta, Shujiro
AU - Akagi, Tetsuya
AU - Ito, Kazuhisa
PY - 2017/11/1
Y1 - 2017/11/1
N2 - This study is concerned with comparative analyses and modeling of both tap-water and pneumatic drive McKibben type artificial muscles. McKibben type pneumatic artificial muscles have been widely used in various fields, especially medical and welfare fields. On the other hand, tap-water drive muscles are proposed because conventional pneumatic muscles require a compressor to generate compressed air. In this paper, to examine some static and dynamic characteristics of them such as contraction ratio, time-delay, and time constant, an experimental setup, which can be used to control the tap-water and pneumatic drive muscles, is constructed and then the differences on the characteristics of them are examined by comparative analyses. It is useful to investigate the characteristics in order to figure out the availability and suitable applications of them. In addition, difference on modeling are investigated by using system identification technique. As a result, the identified model of the pneumatic drive muscle is more complex than the model of the tap-water drive muscle because of nonlinearity due to compressibility of working medium.
AB - This study is concerned with comparative analyses and modeling of both tap-water and pneumatic drive McKibben type artificial muscles. McKibben type pneumatic artificial muscles have been widely used in various fields, especially medical and welfare fields. On the other hand, tap-water drive muscles are proposed because conventional pneumatic muscles require a compressor to generate compressed air. In this paper, to examine some static and dynamic characteristics of them such as contraction ratio, time-delay, and time constant, an experimental setup, which can be used to control the tap-water and pneumatic drive muscles, is constructed and then the differences on the characteristics of them are examined by comparative analyses. It is useful to investigate the characteristics in order to figure out the availability and suitable applications of them. In addition, difference on modeling are investigated by using system identification technique. As a result, the identified model of the pneumatic drive muscle is more complex than the model of the tap-water drive muscle because of nonlinearity due to compressibility of working medium.
KW - McKibben type artificial muscle
KW - Modeling
KW - Pneumatic drive system
KW - Tap-water drive system
UR - http://www.scopus.com/inward/record.url?scp=85034013148&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85034013148&partnerID=8YFLogxK
U2 - 10.18178/ijmerr.6.6.463-466
DO - 10.18178/ijmerr.6.6.463-466
M3 - Article
VL - 6
SP - 463
EP - 466
JO - International Journal of Mechanical Engineering and Robotics Research
JF - International Journal of Mechanical Engineering and Robotics Research
SN - 2278-0149
IS - 6
ER -