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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Modelling In Modelica Of A Pneumatic Muscle: Application
To Model An Experimental Set-Up |
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Authors: |
Aron Pujana-Arrese, Javier Arenas, Iban Retolaza, Ana MartÃnez-Esnaola, Joseba Landaluze |
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Published in:
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ECMS
2007 Proceedings Edited
by: Ivan
Zelinka, Zuzana Oplatkova, Alessandra Orsoni ISBN:
978-0-9553018-2-7 Doi:
10.7148/2007 21st European
Conference on Modelling and Simulation, Prague, June
4-6, 2007 |
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Citation
format: |
Pujana-Arrese, A., Arenas, J.,
Retolaza, I., Martinez-Esnaola, A., & Landaluze, J. (2007). Modelling In
Modelica Of A Pneumatic Muscle: Application To Model An Experimental Set-Up.
ECMS 2007 Proceedings edited by: I. Zelinka, Z. Oplatkova, A.
Orsoni (pp. 466-472). European Council for Modeling and Simulation. doi:10.7148/2007-0466. |
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DOI: |
http://dx.doi.org/10.7148/2007-0466 |
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Abstract: |
The characteristics of pneumatic
artificial muscles - or McKibben muscles - make them very interesting for the
development of robotic applications that feature low impedance in terms of
their interaction with the environment, such as can be the case with orthoses
or certain wearable robots. In order to research the applicability of these
actuators in industrial applications, an experimental one-degree-of-freedom
set-up based on pneumatic muscles manufactured by Festo has been built at
Ikerlan. This paper presents the modelling of a pneumatic muscle in Modelica
as a new component. After that, the paper describes the set-up constructed
and shows the complete model in Dymola/Modelica, in addition to validation of
the model with some experimental data. |
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