Design and Control of a Dual-axial Parallel Robotic Arm Driven by Pneumatic Muscle Actuators
Date Issued
2012
Date
2012
Author(s)
Chang, Che-Wei
Abstract
This study aims to investigate the pneumatic muscle actuators (PMA) applied in the pneumatic servo system. In order to figure out the characteristics of PMA, we first design a single-axial PMA system with two PMAs for path-tracking control. Finally, a dual-axial PMAs parallel robotic arm is developed for rotational angle control and end-point path-position control. The rotation of joint is driven by dual PMAs, which means one is in extension another is in contraction. By controlling these two angles, we can control the terminal point position of the robot arm.
In order to control these systems, Fourier series-based adaptive sliding mode controller is used to control the PMAs through the pressure servo valves. For ensuring the smooth motion, the path-position control is chosen to give consideration to transient and steady state response. The simulation and experiment for path-tracking control of single-axial PMAs system and the dual-axial PMAs robotic arm are executed and show that the system can have good tracking performance.
Subjects
pneumatic servo system
pneumatic muscle actuator
robot arm
Fourier series-based
adaptive sliding mode controller
Type
thesis
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