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Title: Modelling of pneumatic muscle actuator and antagonistic joint using linearised parameters

Authors: Liming Sui; Shengquan Xie

Addresses: College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, Heilongjiang 150001, China ' Department of Mechanical Engineering, The University of Auckland, Auckland 1142, New Zealand

Abstract: This paper proposes a modelling approach using two general parameters of pneumatic muscle actuator based on a linearised method. After the analysis of the two linearised parameters, which are stiffness and pressure-force coefficient, a model of pneumatic muscle is developed based on assumptions of the linearised parameters. Joint stiffness and pressure-torque coefficient are proposed and applied to the analysis of an antagonistic joint actuated by pneumatic muscles. A joint model is obtained using the linearised parameters, and a position and stiffness control model of the joint is developed.

Keywords: pneumatic muscles; pneumatic actuators; artificial muscle; fluidic muscle; modelling; antagonistic joints; linearised parameters; joint stiffness; pressure-force coefficient; position control; stiffness control.

DOI: 10.1504/IJBBR.2013.058735

International Journal of Biomechatronics and Biomedical Robotics, 2013 Vol.2 No.2/3/4, pp.67 - 74

Available online: 17 Jan 2014 *

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