文章基本信息

标题：Modeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Models
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作者：Mirco Martens ; Ivo Boblan
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2017
卷号：6
期号：4
页码：33
DOI：10.3390/act6040033
语种：English
出版社：MDPI Publishing
摘要：In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs) will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be shown that the error between the new model and the measured data is below 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of the presented model will be compared to the quality of existing models by comparing the maximum error. It can be seen that the newly introduced model is closer to the measured force characteristic of a Festo PMA than any existing model.
关键词：pneumatic muscle actuator (PMA); pneumatic artificial muscle (PAM); pneumatic system; pneumatic robot pneumatic muscle actuator (PMA) ; pneumatic artificial muscle (PAM) ; pneumatic system ; pneumatic robot