Title :
Incorporation of thermal expansion in static force modeling of Pneumatic Artificial Muscles
Author :
Andrikopoulos, George ; Nikolakopoulos, George ; Manesis, Stamatis
Author_Institution :
Electr. & Comput. Eng. Dept., Univ. of Patras, Rio, Greece
Abstract :
In this article, the thermal expansion effect is considered as the main cause of the gradual shift in the forcedisplacement relationship, which describes the operation of Pneumatic Artificial Muscles (PAMs). A modified static force modeling approach is proposed, based on fundamental PAM modeling techniques, while incorporating the geometrical properties that are being affected by the thermal build-up occurring during PAM´s continuous operation. The effects of thermal expansion are documented via experimental studies and the acquired data are utilized for the validation of the proposed modeling method.
Keywords :
pneumatic actuators; thermal expansion; force displacement relationship; fundamental PAM modeling technique; geometrical properties; pneumatic artificial muscles; static force modeling; thermal expansion effect; Accuracy; Data models; Force; Mathematical model; Thermal analysis; Thermal force; Pneumatic Artificial Muscles; Static Force Modeling; Thermal Expansion;
Conference_Titel :
Control and Automation (MED), 2015 23th Mediterranean Conference on
Conference_Location :
Torremolinos
DOI :
10.1109/MED.2015.7158784