Mechanical design, dynamic modeling and control of hydraulic artificial muscles
Artificial human muscles have traditionally been operated through pneumatic means, and are known as Pneumatic Artificial Muscles (PAMs). Over the last several decades, Hydraulic Artificial Muscles (HAMs) have also been investigated due to their high power-to-weight ratio and human-like characteri...
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| Format: | Others |
| Language: | English en |
| Published: |
2020
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| Online Access: | http://hdl.handle.net/1828/11999 |
| Summary: | Artificial human muscles have traditionally been operated through pneumatic
means, and are known as Pneumatic Artificial Muscles (PAMs). Over the last
several decades, Hydraulic Artificial Muscles (HAMs) have also been investigated
due to their high power-to-weight ratio and human-like characteristics.
Compared to PAMs, HAMs typically exhibit faster response, higher efficiency,
and superior position control; characteristics which provide potential for application
in rehabilitation robotics. This thesis presents a new approach to actuate
artificial muscles in an antagonistic pair configuration. The detailed mechanical
design of the test platform is introduced, along with the development of
a dynamic model for actuating an artificial elbow joint. Also, custom manufactured
Oil-based Hydraulic Artificial Muscles (OHAMs) are implemented in
a biceps-triceps configuration and characterized on the test platform. Furthermore,
an integrator-backstepping controller is derived for HAMs with different
characteristics (stiffness and damping coefficients) in an antagonistic pair configuration.
Finally, simulations and experimental results of the position control
of the artificial elbow joint are discussed to confirm the functionality of the
OHAMs utilizing the proposed actuating mechanism and the effectiveness of
the developed control algorithm. === Graduate |
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