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Actuators 2017, 6(4), 33; doi:10.3390/act6040033

Modeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Models

1
Department of Electrical Engineering and Computer Science, Control Systems Group, Technical University of Berlin, Einsteinufer 17, D-10587 Berlin, Germany
2
Department VII, Electrical Engineering, Mechatronics and Optometry, Beuth Hochschule Berlin University of Applied Science, Luxemburger Straße 10, D-13353 Berlin, Germany
*
Author to whom correspondence should be addressed.
Received: 7 September 2017 / Revised: 15 October 2017 / Accepted: 20 October 2017 / Published: 2 November 2017
(This article belongs to the Special Issue Pneumatic Actuators)
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Abstract

In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs) will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be shown that the error between the new model and the measured data is below 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of the presented model will be compared to the quality of existing models by comparing the maximum error. It can be seen that the newly introduced model is closer to the measured force characteristic of a Festo PMA than any existing model. View Full-Text
Keywords: pneumatic muscle actuator (PMA); pneumatic artificial muscle (PAM); pneumatic system; pneumatic robot pneumatic muscle actuator (PMA); pneumatic artificial muscle (PAM); pneumatic system; pneumatic robot
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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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Martens, M.; Boblan, I. Modeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Models. Actuators 2017, 6, 33.

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