Design and Modelling of Multi-DOF Manipulator Driven by Hysteresis-Attenuated Pneumatic Artificial Muscles

Abstract

In this article, a multi-DOF manipulator driven by novel hysteresis-attenuated pneumatic artificial muscles (PAMs) is designed, and the multi-DOF manipulator is composed of three manipulator units assembled in cascade, and each manipulator is driven by hysteresis-attenuated PAMs. Compared with the conventional McKibben PAMs, the proposed hysteresis-attenuated PAMs is improved structurally to attenuate the undesired hysteresis by implanting a compression spring. Moreover, the mathematical models of both the hysteresis-attenuated PAMs and the multi-DOF manipulator are established. Finally, comparison test results show that the hysteresis is attenuated effectively for the hysteresis-attenuated PAMs, and the experimental results show that good control performances are achieved for the multi-DOF manipulator under different loads and pressures.