Experimental research of positioning accuracy of pneumatic artificial muscle

Abstract

Pneumatic artificial muscles (PAMs) are used in various industrial applications due to their simple construction, lightweight, hig force to weight ratio and usage in rough environments. Their fast response to the change of air pressure also is appreciated. In most cases PAMs are used only as force generating actuators. However PAMs present a great potential for use in robotics applications as artificial hands of robots or other positioning mechanisms. In such applications the positioning accuracy of the links becomes extremely important. This paper presents results of measurements of positioning accuracy of Festo MAS-20-200N-AA-MC-O PAM in both pressurized and depressurized states. The dependence of positioning accuracy on air pressure and external muscle load is established. It is also observed that PAM exhibits creeping movement, which depends on air pressure and external muscle load.