Analysis of nonlinear behavior of pneumatic artificial muscle
Recently, the Pneumatic Artificial Muscle (PAM) as human muscle has achieved much popularity in the field of research, robotics and industrial fields due to its apparent advantages such as driving a lightweight, dynamic, robust and resistant to dust and very clean operation. PAM is capable of mim...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
2017
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10356/71422 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Recently, the Pneumatic Artificial Muscle (PAM) as human muscle has achieved
much popularity in the field of research, robotics and industrial fields due to its
apparent advantages such as driving a lightweight, dynamic, robust and resistant to
dust and very clean operation. PAM is capable of mimicking the behaviour of human
muscles because PAM can push and generate energy in the state that is not "linear"
when it is activated by air pressure.
Due of its non-linear characteristic and the presence of hysteresis, PAM is difficult to
control, thus presenting challenges in system implementation. The primary goal of
this work was to examine the behaviour of a McKibben PAM, MAS-40-300N type,
and obtain the characteristic curves of the PAM.
The experiments conducted were simple, but yet yield meaningful data. The plotted
graphs displayed many similarities when compared to the results from many reference
articles in this field. This study, hence confirms the presence of hysteresis in a PAM
which contributes to its non-linearity. |
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