Design and Control of a Pneumatic Muscle Servo Drive Applied to a 6-DoF Parallel Manipulator
Abstract
:1. Introduction
2. Materials and Methods
2.1. Research Methodology
2.2. Comparison with Commercial Muscles
2.3. Dynamic Characteristics
3. Results
3.1. Functional Model of the Pneumatic Muscle
3.2. Synthesis of Angular Position Control System
4. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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(mm) | b | c | d | (V) |
---|---|---|---|---|
5 | 122.62 | 957.41 | 33,330.0 | 0.84 |
10 | 112.76 | 775.59 | 31,335.3 | 0.95 |
15 | 94.08 | 662.68 | 31,716,3 | 1.06 |
20 | 69.14 | 524.55 | 21,838.9 | 1.12 |
25 | 73.56 | 577.66 | 25,709.5 | 1.22 |
30 | 67.61 | 560.13 | 23,357.6 | 1.31 |
35 | 72.27 | 624.12 | 24,316.4 | 1.40 |
40 | 64.26 | 576.44 | 20,535.6 | 1.51 |
45 | 77.82 | 750.06 | 24,096.8 | 1.63 |
50 | 65.02 | 654.24 | 18,675.3 | 1,76 |
55 | 81.97 | 887.24 | 21,933.3 | 1.92 |
60 | 69.79 | 793.37 | 17,452.7 | 2.10 |
65 | 62.50 | 748.39 | 13,045.2 | 2.30 |
70 | 66.51 | 848.06 | 12,567.3 | 2.58 |
75 | 71.27 | 1056.75 | 13,055.3 | 2.90 |
80 | 68.15 | 1089.00 | 10,214.1 | 3.32 |
85 | 88.18 | 1539.92 | 10,914.0 | 3.89 |
90 | 122.07 | 2545.10 | 13,172.4 | 4.69 |
(mm) | b | c | d | (V) |
---|---|---|---|---|
5 | 97.61 | 953.89 | 25,126.8 | 1.42 |
10 | 79.22 | 742.11 | 24,444.6 | 1.58 |
15 | 68.20 | 682.04 | 19,716.6 | 1.68 |
20 | 57.16 | 573.95 | 17,407.9 | 1.82 |
25 | 62.43 | 665.15 | 19,953.9 | 1.97 |
30 | 64.07 | 752.55 | 21,483.4 | 2.11 |
35 | 58.90 | 708.48 | 19,054.1 | 2.27 |
40 | 57.11 | 725.15 | 17,903.7 | 2.44 |
45 | 72.61 | 982.46 | 21,409.4 | 2.64 |
50 | 44.88 | 576.91 | 10,872.4 | 2.86 |
55 | 61.77 | 935.85 | 15,833.9 | 3.12 |
60 | 82.39 | 1387.44 | 19,843.6 | 3.42 |
65 | 94.31 | 1712.43 | 20,007.5 | 3.78 |
70 | 81.78 | 1636.40 | 15,931.9 | 4.23 |
75 | 91.88 | 2123.36 | 16,771.0 | 4.79 |
80 | 103.93 | 2570.42 | 15,668.4 | 5.54 |
(mm) | b | c | d | (V) |
---|---|---|---|---|
5 | 87.87 | 1071.91 | 21,538.4 | 2.00 |
10 | 60.36 | 690.15 | 15,207.9 | 2.20 |
15 | 60.37 | 732.23 | 18,077.5 | 2.38 |
20 | 61.67 | 794.31 | 19,306.4 | 2.55 |
25 | 64.50 | 908.30 | 21,698.3 | 2.74 |
30 | 71.17 | 1065.53 | 23,788.4 | 2.94 |
35 | 70.42 | 1138.32 | 23,425.3 | 3.15 |
40 | 69.60 | 1095.38 | 19,684.4 | 3.40 |
45 | 67.53 | 1187.75 | 19,249.2 | 3.67 |
50 | 73.07 | 1319.48 | 18,167.5 | 3.99 |
55 | 87.03 | 1695.44 | 19,666.4 | 4.36 |
60 | 78.60 | 1748.91 | 17,782.4 | 4.79 |
65 | 110.72 | 2804.38 | 23,168.6 | 5.33 |
70 | 90.49 | 2365.22 | 16,692.0 | 6.01 |
(mm) | b | c | d | (V) |
---|---|---|---|---|
5 | 83.92 | 1079.55 | 16,687.1 | 2.58 |
10 | 67.30 | 835.22 | 13,068.6 | 2.81 |
15 | 75.73 | 1002.05 | 18,387.3 | 3.05 |
20 | 80.71 | 1174.23 | 21,503.9 | 3.28 |
25 | 77.49 | 1350.28 | 20,937.3 | 3.48 |
30 | 84.94 | 1613.87 | 27,991.7 | 3.78 |
35 | 70.51 | 1229.30 | 18,264.0 | 4.06 |
40 | 78.05 | 1549.41 | 21,158.5 | 4.39 |
45 | 87.73 | 1861.74 | 22,103.3 | 4.75 |
50 | 80.10 | 1918.73 | 19,903.4 | 5.17 |
55 | 75.60 | 1853.75 | 17,117.1 | 5.68 |
60 | 86.73 | 2307.93 | 18,940.3 | 6.29 |
Static Model (mm) | Dynamic Model (mm) | |
---|---|---|
mm N | 2.21 | 1.71 |
mm N | 1.14 | 0.60 |
(rad) | (rad) | |
---|---|---|
rad Nm | 0.0051 | 0.013 |
rad Nm | 0.008 | 0.016 |
rad Nm | 0.005 | 0.013 |
rad Nm | 0.009 | 0.018 |
rad Nm | 0.028 | 1.047 |
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Pietrala, D.S.; Laski, P.A.; Zwierzchowski, J. Design and Control of a Pneumatic Muscle Servo Drive Applied to a 6-DoF Parallel Manipulator. Appl. Sci. 2024, 14, 5329. https://doi.org/10.3390/app14125329
Pietrala DS, Laski PA, Zwierzchowski J. Design and Control of a Pneumatic Muscle Servo Drive Applied to a 6-DoF Parallel Manipulator. Applied Sciences. 2024; 14(12):5329. https://doi.org/10.3390/app14125329
Chicago/Turabian StylePietrala, Dawid Sebastian, Pawel Andrzej Laski, and Jaroslaw Zwierzchowski. 2024. "Design and Control of a Pneumatic Muscle Servo Drive Applied to a 6-DoF Parallel Manipulator" Applied Sciences 14, no. 12: 5329. https://doi.org/10.3390/app14125329
APA StylePietrala, D. S., Laski, P. A., & Zwierzchowski, J. (2024). Design and Control of a Pneumatic Muscle Servo Drive Applied to a 6-DoF Parallel Manipulator. Applied Sciences, 14(12), 5329. https://doi.org/10.3390/app14125329