Analysis of nonlinear behavior of pneumatic artificial muscle

• Main Author: Hambali Jaafar
• Other Authors: Tegoeh Tjahjowidodo
• Format: Final Year Project
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: http://hdl.handle.net/10356/71422
• Institution: Nanyang Technological University

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.