Experimental Evaluation of A Cylinder Actuator Control Using McKibben Muscle

  • Mohd Akmal Mhd Yusoff Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, Jalan Sultan Yahya Petra, Kuala Lumpur, 54100, MALAYSIA
  • Ahmad 'Athif mohd Faudzi School of Electrical Engineering, Universiti Teknologi Malaysia, UTM, Johor Bahru, 81310, MALAYSIA
  • Mostafa Sayahkarajy School of Biomedical Engineering & Health Sciences, Universiti Teknologi Malaysia, UTM, Johor Bahru, 81310, MALAYSIA
Keywords: McKibben muscle, artificial muscle, pneumatic muscle actuator, cylinder actuator, soft robotic

Abstract

There has been an increased interest in applying pneumatic muscle actuator (PMA) in robotic systems because of its low weight and high compliant characteristics. On the other hand, pneumatic muscle actuator (PMA) is gaining attention in robotic applications because of its low weight and high compliant characteristics. It is known that the McKibben muscle is different from the fluidic cylinder actuator in that the cylinder was unstable in its position and in its velocity in an open-loop system unlike the McKibben that is stable in its position. The modeling and control of McKibben muscle as the actuator for the cylinder are crucial because it is known to have non-linear response, hysteresis and small stroke. In this project, a single acting cylinder model which would have uncontrolled extension to push direction by compressed air, is actuated and controlled using a PMA. The system is designed with two 1.3mm-diameter McKibben muscles attached to the cylinder. Open loop control was used and the result shows that the PMA is able to control the cylinder with good performance.

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Published
05-09-2019
How to Cite
Mhd Yusoff, M. A., mohd Faudzi, A. ’Athif, & Sayahkarajy, M. (2019). Experimental Evaluation of A Cylinder Actuator Control Using McKibben Muscle. International Journal of Integrated Engineering, 11(4). Retrieved from https://publisher.uthm.edu.my/ojs/index.php/ijie/article/view/4201