An Enhanced Dynamic Model for McKibben Pneumatic Muscle Actuators
نویسندگان
چکیده
An enhanced dynamic force model of a type of small and soft McKibben-type pneumatic muscle (PM) actuator has been developed. This model takes the factor of external loads and a more sophisticated form of friction into account, and is presented as a polynomial function of pressure, contraction length, contraction velocity and external load. The coefficients in this model are determined from a series of experiments with constant loads and step pressure inputs. Comparison study with other models is conducted assuming the Coulomb friction as a constant force. The results demonstrate a solid enhancement of the presented model.
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