Design and Control of a Pneumatic Muscle Servo Drive Applied to a 6-DoF Parallel Manipulator

Abstract

This article is a continuation of research on the possibility of using artificial pneumatic muscles to drive a parallel manipulator with six degrees of freedom. The authors present an artificial pneumatic muscle they have developed. The article contains a description of the research methodology and a description of the authors’ research position. The article presents the results of a comparison of the developed pneumatic muscle with an existing commercial solution. Then, the dynamic characteristics of the authors’ muscle are presented. A mathematical model is proposed that contains two inputs—the force generated by the muscle and the position of the muscle—and one output—the value of the signal controlling the pressure valve. The results of verification of the developed model are presented. The model is then presented in two versions. The first one contains the full dynamic model. The second one is its simplified version: the static model. The authors compare both models and present the comparison results. A servo drive is then synthesized and consists of a pair of muscles capable of generating the desired angular position and intended to drive a single arm of a parallel manipulator. The developed servo drive is verified on a test stand, and its behavior is assessed and analyzed in the context of its use in the manipulator.

Keywords

• pneumatic muscle
• dynamic characteristics
• muscular servo drive
• parallel manipulator