...Jihong Wang; Tim Gordon Although pneumatic actuators are widely used in industry, they have two major weaknesses—nonlinearities associated with compressibility of air and low energy efficiency. The former limits its applicability whenever accurate positioning is required, and the latter has...

... 2010 22 02 2011 22 02 2011 biomechanics mobile robots muscle pneumatic actuators propellants Pneumatic artificial muscle is a class of musclelike actuator that contracts under pressure, exerting a pulling force over the external load. The most well-known pneumatic muscle...

...Keith W. Wait; Michael Goldfarb The authors present a model-based analysis of a position-velocity-acceleration-controlled pneumatic actuator that indicates that supplementing the pneumatic actuator with mechanical damping can significantly increase the gain margin, tracking accuracy...

...Arcangelo Messina; Giosué Rollo, Ph.D. Within the frame of industrial automation, the mechanical power related to pneumatic actuator systems involves air flows along with mechanical component, such as valves, connecting tubes, cylinder chambers and possible linkages in order to finally actuate...

... – 962 . Schröder , J. , Kawamura , K. , Gockel , T. , and Dillmann , R. , 2003 , “ Improved Control of a Humanoid Arm Driven by Pneumatic Actuators ,” Proceedings of Humanoids 2003 . Thanh , T. D. C. , and Ahn , K. K. , 2006 , “ Intelligent Phase Plane Switching...

... or supply pressures. For modeling and control intents, a correct characterization of the pneumatic actuator natural frequency is indispensable. The aim of the paper is to evaluate how heat exchange process affects the proper characteristics of pneumatic drivers and, in particular, their pneumatic stiffness...

...Yong Zhu; Eric J. Barth This paper presents an energetically derived control methodology to specify and regulate the oscillatory motion of a pneumatic hopping robot. An ideal lossless pneumatic actuation system with an inertia is shown to represent an oscillator with a stiffness, and hence...

...Yong Zhu; Eric J. Barth To carry out stable and dissipative contact tasks with an arbitrary environment, it is critical for a pneumatic actuator to be passive with respect to a supply rate consisting of the spool valve position input and the actuation force output. A pseudo-bond graph model...

...Karim Khayati; Pascal Bigras; Louis-A. Dessaint The purpose of this paper is to develop an accurate closed-loop acting force technique for a pneumatic actuator, as an essential stage in the implementation of positioning control strategy. Since an analytical nonlinear structure, which linearly...

...Xiangrong Shen; Michael Goldfarb This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator. By replacing...

... 2005 17 10 2006 pneumatic actuators hydraulic actuators control system synthesis aerodynamics The modeling of a power and energy dense chemofluidic actuation system discussed herein is aimed at producing a model based on first principles. The model of the system should ideally...

...Xiangrong Shen; Michael Goldfarb This paper proposes a structure and control approach for the energy saving servo control of a pneumatic servo system. The energy saving approach is enabled by supplementing a standard four-way spool valve controlled pneumatic actuator with an additional two-way...

... to a pneumatic actuator controlled by a pair of three-way solenoid actuated valves. The pneumatic actuation system is transformed into its averaged equivalent control canonical form, and a sliding mode controller is developed based on the resulting model. The controller is implemented on an experimental system...

... received by the ASME Dynamic Systems and Control Division July 14, 2003; final revision, December 4, 2003. Review conducted by N. Manring. 14 July 2003 04 December 2003 11 03 2005 nonlinear dynamical systems nonlinear control systems observability pneumatic actuators...

...Pascal Bigras The force and position of pneumatic actuators are difficult to control, since their nonlinear model includes unknown variables such as temperature and the discharge coefficient. This paper presents a specific sliding-mode observer to estimate these unknown time-variant quantities...

... servomechanisms position control three-term control fuzzy control control system synthesis pneumatic actuators pneumatic drives fuzzy logic robust control friction Pneumatic drives are traditionally used in manipulation tasks to quickly move loads between two positions using simple on-off valves...