Rino Versluys, Kristel Deckers, Michaël Van Damme, Ronald Van Ham, Gunther Steenackers, Patrick Guillaume, Dirk Lefeber, "A Study on the Bandwidth Characteristics of Pleated Pneumatic Artificial Muscles", Applied Bionics and Biomechanics, vol. 6, Article ID 298125, 7 pages, 2009. https://doi.org/10.1080/11762320902738647
A Study on the Bandwidth Characteristics of Pleated Pneumatic Artificial Muscles
Pleated pneumatic artificial muscles have interesting properties that can be of considerable significance in robotics and automation. With a view to the potential use of pleated pneumatic artificial muscles as actuators for a fatigue test bench (high forces and small displacements), the bandwidth characteristics of a muscle-valve system were investigated. Bandwidth is commonly used for linear systems, as the Bode plot is independent of the amplitude of the input signal. However, due to the non-linear behaviour of pleated pneumatic artificial muscles, the system's gain becomes dependent on the amplitude of the input sine wave. As a result, only one Bode plot is insufficient to clearly describe or identify a non-linear system. In this study, the bandwidth of a muscle-valve system was assessed from two perspectives: a varying amplitude and a varying offset of the input sine wave. A brief introduction to pneumatic artificial muscles is given. The concept of pleated pneumatic artificial muscles is explained. Furthermore, the different test methods and experimental results are presented.
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