Modeling and Compensation of Stiffness-Dependent Hysteresis Coupling Behavior for Parallel Pneumatic Artificial Muscle-Driven Soft Manipulator

The parallel driving soft manipulator with multiple extensors and contractile pneumatic artificial muscles (PAMs) is able to operate continuously and has varying stiffness, achieving smooth movements and a fundamental trade-off between flexibility and stiffness. Owing to the hysteresis of PAMs and a...

Ausführliche Beschreibung

Bibliografische Detailangaben

Hauptverfasser:	Ying Zhang, Huiming Qi, Qiang Cheng, Zhi Li, Lina Hao
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2024-11-01
Schriftenreihe:	Applied Sciences
Schlagworte:	pneumatic artificial muscles soft manipulator variable stiffness hysteresis coupling effects inverse compensation
Online-Zugang:	https://www.mdpi.com/2076-3417/14/22/10240
Tags:	Tag hinzufügen Keine Tags, Fügen Sie das erste Tag hinzu!