Variable radius pulley design methodology for pneumatic artificial muscle-based antagonistic actuation systems

Dongjun Shin, Xiyang Yeh, Oussama Khatib

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1830-1835
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/TerritoryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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