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Position Control of a Hybrid Actuator With Air Muscles and Spherical MR-Brake

[+] Author Affiliations
Doruk Senkal, Hakan Gurocak

Washington State University Vancouver, Vancouver, WA

Paper No. DETC2013-13442, pp. V004T08A030; 7 pages
doi:10.1115/DETC2013-13442
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5591-1
  • Copyright © 2013 by ASME

abstract

In this research, we developed a position control system for a hybrid actuator using position, velocity and pressure feedback loops as well as a force-blending algorithm. The actuator uses combination of a spherical MR-brake and three air muscles to create motion in two degrees-of-freedom (DOF). The spherical MR-brake is capable of rotating along three axes and restricts all motion when engaged. The control system helps prevent overshoot and instability in the air muscles by engaging the MR-brake when necessary. It also provides significant improvement in response time by making high-gain PID control of air muscles possible. Such an actuation scheme can be used in a wide-variety of advanced robotics applications such as walking robots, bio-robotics and exoskeletons, where high power, multi-DOF actuation is required in a compact volume.

Copyright © 2013 by ASME

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