Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

SAGETRACK

Sign In to gain access to subscriptions and/or personal tools.
Journal of Intelligent Material Systems and Structures
This Article
Right arrow Full Text (PDF)
Right arrow All Versions of this Article:
1045389X06063462v1
18/2/175    most recent
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Saga, N.
Right arrow Articles by Yaegashi, K.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Mathematical Model of Pneumatic Artificial Muscle Reinforced by Straight Fibers

Norihiko Saga

Akita Prefectural University, 84-4 Tsuchiya, Honjyo, Akita, 015-0055, Japan, saga{at}akita-pu.ac.jp

Taro Nakamura

Chuo University, 1-13-27 Kasuga, Bunkyoku, Tokyo 112-8551, Japan

Kenji Yaegashi

Akita Prefectural University, 84-4 Tsuchiya, Honjyo, Akita, 015-0055, Japan

This article describes a mathematical model of a pneumatic artificial muscle reinforced by straight fibers. The pneumatic artificial muscle is lightweight and high power. In addition, it is possible for it to emit exhaust into the atmosphere because the transmission medium of its energy is air, and it needs neither a tank nor maintenance like hydraulic equipment. In addition, safety to a person and the environment is high because the base of the actuator is a soft polymeric material even if damage to the artificial muscle is caused. On the other hand, because the device is composed of a thin film cylinder, and is easily influenced by outside power for the conversion of the volume change in rubber into physical contraction axially, and its passive character is strong, precise positional control is difficult. However, the living thing that has a verbose degree of freedom enables minute motion and walking, etc. by skillfully adjusting to avoid impedance, because it understands its own muscular characteristic beforehand. Similarly, it is thought that the precise positional control is possible by understanding the characteristics of an artificial muscle beforehand. In this research, it is assumed that the expansion shape of the pneumatic artificial muscle that we developed from the pressure distribution is equivalent to the centenary curve, and its model is based on dynamic balance. The result shows the effectiveness of control of an artificial muscle that uses highly accurate calculations and models.

Key Words: pneumatic actuator • artificial muscle • mathematical model • contraction characteristic

This version was published on February 1, 2007

Journal of Intelligent Material Systems and Structures, Vol. 18, No. 2, 175-180 (2007)
DOI: 10.1177/1045389X06063462
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?