TY - GEN
T1 - Variable radius pulley design methodology for pneumatic artificial muscle-based antagonistic actuation systems
AU - Shin, Dongjun
AU - Yeh, Xiyang
AU - Khatib, Oussama
PY - 2011
Y1 - 2011
N2 - There is a growing interest in utilizing pneumatic artificial muscles (PAMs) as actuators for human-friendly robots. However, several performance drawbacks prevent the widespread use of PAMs. Although many approaches have been proposed to overcome the low control bandwidth of PAMs, some limitations of PAMs such as restricted workspace and torque capacity remain to be addressed. This paper analyzes the limitations of conventional circular pulley joints and subsequently proposes a design methodology to synthesize a pair of variable radius pulleys to improve joint torque capacity over a large workspace. Experimental results show that newly synthesized variable radius pulleys significantly improve position tracking performance in the enlarged workspace.
AB - There is a growing interest in utilizing pneumatic artificial muscles (PAMs) as actuators for human-friendly robots. However, several performance drawbacks prevent the widespread use of PAMs. Although many approaches have been proposed to overcome the low control bandwidth of PAMs, some limitations of PAMs such as restricted workspace and torque capacity remain to be addressed. This paper analyzes the limitations of conventional circular pulley joints and subsequently proposes a design methodology to synthesize a pair of variable radius pulleys to improve joint torque capacity over a large workspace. Experimental results show that newly synthesized variable radius pulleys significantly improve position tracking performance in the enlarged workspace.
UR - http://www.scopus.com/inward/record.url?scp=84455188814&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455188814&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048750
DO - 10.1109/IROS.2011.6048750
M3 - Conference contribution
AN - SCOPUS:84455188814
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1830
EP - 1835
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -