褶皱气动人造肌肉的迟滞建模

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI:10.1109/RAMECH.2008.4681431

M. Damme, P. Beyl, B. Vanderborght, R. Ham, I. Vanderniepen, R. Versluys, F. Daerden, D. Lefeber

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引用次数: 43

摘要

由于迟滞几乎总是存在，通过测量其表压来估计气动肌肉执行器所施加的力是具有挑战性的。本文研究了褶皱气动人工肌肉的滞后现象，发现这种现象与表压无关。针对气动肌肉的受力收缩特性，提出了一种基于Preisach的滞回模型，并给出了仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling Hysteresis in Pleated Pneumatic Artificial Muscles

Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since hysteresis is almost always present. This paper investigates the hysteresis phenomenon in pleated pneumatic artificial muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the specific shape of the force-contraction characteristic of pneumatic muscles is proposed, and its results are presented.

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2008 IEEE Conference on Robotics, Automation and Mechatronics

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