Modeling the pneumatic muscle actuator using phenomenological model

• Main Authors: Sakthivelu, Vasanthan, Chong, Shin Horng, Md Ghazaly , Mariam
• Format: Conference or Workshop Item
• Language: English
• Published: 2014
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utem.edu.my/id/eprint/10902/1/PECS2014_PMAS_FinalManuscript.pdf; http://eprints.utem.edu.my/id/eprint/10902/

This paper focuses on the parameter characterization of phenomenological modelling for commercially available Festo Fluidic Muscle Actuator. Phenomenological model consist of a spring element, nonlinear damping element and a contractile force element which arranged in parallel. The dynamic model was tested on the experimental setup which allows precise and accurate contraction due to the supply of pressure (P) to the PMA. The open loop data were collected for static load study and contraction study at several constant pressures P. Only contraction experiment was focused in this study by excluding the relaxation experiment. The result obtained shows that at constant pressure, the muscle actuator behaves as a spring and nonlinear damping element. The contractile force coefficient element is the corresponding force generated by the muscle during contraction in longitudinal direction. Since pressure is the main driving element in PMA system, all the coefficient has pressure dependent relationship. The model and parameters obtained from the study were further validated by predicting the contraction of the muscle via simulation and experimental. Finally, a brief conclusion of the pneumatic muscle actuator experimental setup and dynamic system modeling is made.