Static modeling of antagonistic pneumatic actuator for robotic applications

Author

Landkammer, Stefan ; Schneider, Daniel ; Winter, Florian ; Hess, Peter ; Hornfeck, Rudiger

Author_Institution

Fac. of Mech. Eng., Nuremberg Inst. of Technol., Nuremberg, Germany

fYear

2015

Firstpage

1

Lastpage

6

Abstract

The biological of spider legs inspired the development of a biomimetic pneumatic actuator for robotic applications. The concept is to straighten the joint by pressurizing the interior of an exoskeleton to inflate a bellows-like flexible membrane. The flexion is initiated by contraction of a McKibben-type muscle, which is integrated in the exoskeleton chamber. A detailed mathematical model to operate these antagonistic joint actuators is presented. Feasible torque and angle characteristics of the actuator depending on the input pressures are also presented and control strategies are discussed.

Keywords

biomimetics; pneumatic actuators; robots; McKibben-type muscle; antagonistic joint actuators; antagonistic pneumatic actuator; bellows-like flexible membrane; biomimetic pneumatic actuator; robotic applications; spider leg biological principle; static modeling; Actuators; Fasteners; Joints; Legged locomotion; Mathematical model; Muscles; Torque; actuator; biomimetic; fluidic; pneumatic; robotic application; spider leg mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM), 2015 IEEE International Workshop of

Conference_Location

Liberec

Print_ISBN

978-1-4799-6970-8

Type

conf

DOI

10.1109/ECMSM.2015.7208684

Filename

7208684