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Faculty of Mechanical Engineering, Lj. (FSLJ)
  • New pneumatic artificial muscle force model using machine vision volume measurement and virtual work
    Pipan, Miha ...
    There are a lot of different approaches for calculating force s generated with a Pneumatic Artificial Muscle (PAM). The majority of models that use virtual work are good approximations. Other met ... hods are complex and need e xact internal structure of the modeled muscle . In this paper we prese nta new method for obtaining PAM force module, that doesnʼt need a PAMʼs internal structure and gives better results in comparison to Chouʼs most used virtual work model. With the use of acquiredimages of PAMʼs in different pressure and contraction states we calculated a change of internal volume of the muscle and used it to make a new improved force model. The new model is compared to Chouʼs model and experimental data. Also further improvement of the PAM force model is suggested.
    Source: Revista técnica de la Facultad de Ingeniería. - ISSN 0254-0770 (Vol. 38, nr. 2, 2015, str. 90-96)
    Type of material - article, component part
    Publish date - 2015
    Language - english
    COBISS.SI-ID - 14171419

    Link(s):

    http://www.tjfeonline.com/admin/archive/1113.09.20151442156832.pdf

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