WCSE

Pneumatic Muscle-Based Actuator for Industrial Robotic Applications

Abstract— The outstanding feature of the pneumatic artificial muscle is its high power to weight ratio vastly outperforming both pneumatic cylinder and DC motor. This feature is very important for using of pneumatic muscle-based actuators in industrial robotic systems where high forces and stiffness of mechanism are often required. The most common so far produced and used type of pneumatic artificial muscle is McKibben muscle and it is now made commercially available by different companies (e.g. Festo). In the paper there are described some of its characteristics and principles of control important for using as actuator for industrial robotic applications.

Index Terms— industrial robotics, pneumatic actuator; artificial muscle, fuzzy adaptive control

Ján Piteľ
Technical University of Kosice, Faculty of Manufacturing Technologies, Department of Industrial Engineering and Informatics, SLOVAKIA
Ondrej Líška
Technical University of Kosice, Faculty of Mechanical Engineering, Department of Automation, Control and Human-Machine Interaction, SLOVAKIA
Dagmar Janáčová
Tomas Bata University in Zlin, Faculty of Applied Informatics, Department of Automation and Control Engineering, CZECH REPUBLIC

ISBN: 978-981-11-3671-9 DOI: 10.18178/wcse.2017.06.17Xsrc="http://www.wcse.org/uploadfile/2019/0823/20190823055609629.png" style="width: 120px; height: 68px;" />[Download]

Cite: Ján Piteľ , Ondrej Líška, Dagmar Janáčová, "Pneumatic Muscle-Based Actuator for Industrial Robotic Applications," Proceedings of 2017 the 7th International Workshop on Computer Science and Engineering, pp. 1218-1223, Beijing, 25-27 June, 2017.