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Actuators 2017, 6(4), 32; doi:10.3390/act6040032

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

School of Computing, Science & Engineering, University of Salford, Salford M5 4WT, Greater Manchester, UK
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Received: 30 August 2017 / Revised: 2 October 2017 / Accepted: 23 October 2017 / Published: 27 October 2017
(This article belongs to the Special Issue Electrochemical and Electromechanical Actuators)
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Abstract

To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled. View Full-Text
Keywords: contraction actuators; modelling; soft robotics; pulling force; stiffness contraction actuators; modelling; soft robotics; pulling force; stiffness
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Al-Ibadi, A.; Nefti-Meziani, S.; Davis, S. Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA. Actuators 2017, 6, 32.

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