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
N1 - Funding Information:
This research was supported by the MEXT in Japan through a Financial Assistance Program for QOL Innovative Research (2012-2016) and a Grant-in-Aid for Scientific Research (C) (Subject No. 24560315 & 16K06202).
Publisher Copyright:
© 2017 Int. J. Mech. Eng. Rob. Res.
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
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U2 - 10.18178/ijmerr.6.6.463-466
DO - 10.18178/ijmerr.6.6.463-466
M3 - Article
AN - SCOPUS:85034013148
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 -