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Novel Considerations on Static Force Modeling of Pneumatic Muscle Actuators
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-9399-7801
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Department of Electrical and Computer Engineering, University of Patras , Electrical and Computer Engineering Department, University of Patras.
Number of Authors: 32016 (English)In: IEEE/ASME transactions on mechatronics, ISSN 1083-4435, E-ISSN 1941-014X, Vol. 21, no 6, p. 2647-2659, article id 7501612Article in journal (Refereed) Published
Abstract [en]

In this article, an overview of the most significant static force modeling approaches of Pneumatic Muscle Actuators (PMAs) is presented, while a modified static force modeling approach, which is based on fundamental PMA modeling techniques, is proposed. In addition, the thermal expansion effect is considered as the main cause of the gradual shift in the PMA’s force-displacement relationship and the geometric properties, which are being affected by the thermal build-up occurring during PMA’s continuous operation, are incorporated into the static force models. The effects of thermal expansion are documented via experimental studies and the acquired force-displacement data are utilized for the validation of the proposed modeling method in PMAs of different nominal dimensions and at constant test pressures. Finally, an additional evaluation is performed via the comparison of the accuracy between the proposed model and the existing geometric static modeling approaches.

Place, publisher, year, edition, pages
2016. Vol. 21, no 6, p. 2647-2659, article id 7501612
Keywords [en]
Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-15409DOI: 10.1109/TMECH.2016.2585503ISI: 000388801000005Scopus ID: 2-s2.0-84996868177Local ID: eea87819-fa24-40c6-9d8f-8937205bc399OAI: oai:DiVA.org:ltu-15409DiVA, id: diva2:988383
Note

Validerad; 2016; Nivå 2; 2016-11-22 (andbra)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved

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Andrikopoulos, GeorgiosNikolakopoulos, George

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