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Main Title: Modeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Models
Author(s): Martens, Mirco
Boblan, Ivo
Type: Article
Is Supplemented By: 10.3390/act7010009
Language Code: en
Abstract: In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs) will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be shown that the error between the new model and the measured data is below 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of the presented model will be compared to the quality of existing models by comparing the maximum error. It can be seen that the newly introduced model is closer to the measured force characteristic of a Festo PMA than any existing model.
Issue Date: 2-Nov-2017
Date Available: 28-Nov-2019
DDC Class: 600 Technik, Technologie
Subject(s): pneumatic muscle actuator
pneumatic artificial muscle
pneumatic system
pneumatic robot
Sponsor/Funder: BMWi, ZF4007503, Development of a PMA-driven Exoskeleton for the Upper Body
Journal Title: Actuators
Publisher: MDPI
Publisher Place: Basel
Volume: 6
Issue: 4
Article Number: 33
Publisher DOI: 10.3390/act6040033
EISSN: 2076-0825
Notes: Erratum published on 13 March 2018, see Actuators 2018, 7(1), 9.
Appears in Collections:FG Regelungssysteme » Publications

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