Pneumatic muscle-based actuator for industrial robotic applications

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2017 7th International Workshop on Computer Science and Engineering, WCSE 2017, Page: 1218-1223

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Piteľ, Ján; Líška, Ondrej; Janáčová, Dagmar
International Workshop on Computer Science and Engineering (WCSE)
Decision Sciences; Computer Science; Artificial muscle; Fuzzy adaptive control; Industrial robotics; Pneumatic actuator
conference paper description
The outstanding feature of the pneumatic artificial muscle is its high power to weight ratio vastly outperforming both pneumatic cylinder and DC motor. This feature is very important for using of pneumatic muscle-based actuators in industrial robotic systems where high forces and stiffness of mechanism are often required. The most common so far produced and used type of pneumatic artificial muscle is McKibben muscle and it is now made commercially available by different companies (e.g. Festo). In the paper there are described some of its characteristics and principles of control important for using as actuator for industrial robotic applications.