Novel models for the extension pneumatic muscle actuator performances

Al-Ibadi, A; Nefti-Meziani, S; Davis, ST

Abstract

This paper illustrates the design, implementation
and modelling of the extensor pneumatic muscle actuator
(PMA). The extensor soft actuator has a vital feature of
ability to bend and extend, and that give it the flexibility to
use in numerous applications. The extended behaviour of
this actuator is modelled mathematically to be used to
predict the length of a wide range of actuators at different
air pressure amounts and make the position control of such
type of actuator easier and precise. Moreover, the
contraction force formula is modified to describe the
pushing force for the extensor actuator. The bending
behaviour of single muscle is explained and a 4-PMA
continuum arm has been constructed to study its
performance and model the bending angle.

Citation

Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2017, September). Novel models for the extension pneumatic muscle actuator performances. Presented at The 23rd International Conference on Automation & Computing, Huddersfield, UK

• Presentation Conference Type: Other
• Conference Name: The 23rd International Conference on Automation & Computing
• Conference Location: Huddersfield, UK
• Start Date: Sep 7, 2017
• End Date: Sep 8, 2017
• Acceptance Date: Jun 14, 2017
• Publication Date: Oct 26, 2017
• Deposit Date: Jul 10, 2017
• Publicly Available Date: May 21, 2019
• Book Title: 2017 23rd International Conference on Automation and Computing (ICAC)
• ISBN: 9780701702601;-9781509050406
• DOI: https://doi.org/10.23919/IConAC.2017.8081973
• Publisher URL: http://dx.doi.org/10.23919/IConAC.2017.8081973
• Related Public URLs: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8067274; http://www.cacsuk.co.uk/index.php/conferences
• Additional Information: Event Type : Conference