Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles

Xin Liu; Jinhui Zhang; Fang Xu; Tao Wang; Ling Zhao

doi:10.1109/LRA.2022.3172984

Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles

Xin Liu, Jinhui Zhang^*, Fang Xu, Tao Wang, Ling Zhao

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	6447-6454
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	3
DOIs	https://doi.org/10.1109/LRA.2022.3172984
Publication status	Published - 1 Jul 2022

Keywords

Hysteresis-attenuated pneumatic artificial muscle (PAM)
Modelling
Multi-DOF manipulator

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10.1109/LRA.2022.3172984

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title = "Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles",

abstract = "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.",

keywords = "Hysteresis-attenuated pneumatic artificial muscle (PAM), Modelling, Multi-DOF manipulator",

author = "Xin Liu and Jinhui Zhang and Fang Xu and Tao Wang and Ling Zhao",

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AU - Liu, Xin

AU - Zhang, Jinhui

AU - Xu, Fang

AU - Wang, Tao

AU - Zhao, Ling

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.

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Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles

Abstract

Keywords

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