TY - JOUR
T1 - Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles
AU - Liu, Xin
AU - Zhang, Jinhui
AU - Xu, Fang
AU - Wang, Tao
AU - Zhao, Ling
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2022/7/1
Y1 - 2022/7/1
N2 - In this article, a multi-DOF manipulator driven by novel hysteresis-attenuated pneumatic artificial muscles (PAMs) is designed, and the multi-DOF manipulator is composed of three manipulator units assembled in cascade, and each manipulator is driven by hysteresis-attenuated PAMs. Compared with the conventional McKibben PAMs, the proposed hysteresis-attenuated PAMs is improved structurally to attenuate the undesired hysteresis by implanting a compression spring. Moreover, the mathematical models of both the hysteresis-attenuated PAMs and the multi-DOF manipulator are established. Finally, comparison test results show that the hysteresis is attenuated effectively for the hysteresis-attenuated PAMs, and the experimental results show that good control performances are achieved for the multi-DOF manipulator under different loads and pressures.
AB - In this article, a multi-DOF manipulator driven by novel hysteresis-attenuated pneumatic artificial muscles (PAMs) is designed, and the multi-DOF manipulator is composed of three manipulator units assembled in cascade, and each manipulator is driven by hysteresis-attenuated PAMs. Compared with the conventional McKibben PAMs, the proposed hysteresis-attenuated PAMs is improved structurally to attenuate the undesired hysteresis by implanting a compression spring. Moreover, the mathematical models of both the hysteresis-attenuated PAMs and the multi-DOF manipulator are established. Finally, comparison test results show that the hysteresis is attenuated effectively for the hysteresis-attenuated PAMs, and the experimental results show that good control performances are achieved for the multi-DOF manipulator under different loads and pressures.
KW - Hysteresis-attenuated pneumatic artificial muscle (PAM)
KW - Modelling
KW - Multi-DOF manipulator
UR - http://www.scopus.com/inward/record.url?scp=85130781006&partnerID=8YFLogxK
U2 - 10.1109/LRA.2022.3172984
DO - 10.1109/LRA.2022.3172984
M3 - Article
AN - SCOPUS:85130781006
SN - 2377-3766
VL - 7
SP - 6447
EP - 6454
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -