This paper describes the design and control of a new chemomuscle actuation system for robotic systems, especially the mobile systems inspired by biological principles. Developed based on the pneumatic artificial muscle, a chemomuscle actuation system features a high power density, as well as similar characteristics to the biological muscles. Furthermore, by introducing monopropellant (a special type of liquid fuel) as the energy storage media, the chemomuscle system leverages the high energy density of liquid fuel and provides a compact form of high-pressure gas supply with a simple structure. The introduction of monopropellant addresses the limitation of pneumatic supply on mobile devices and thus is expected to facilitate the future application of artificial muscle on biorobotic systems. In this paper, the design of a chemomuscle actuation system is presented, as well as a robust controller design that provides effective control for this highly nonlinear system. To demonstrate the proposed chemomuscle actuation system, an experimental prototype is constructed, on which the proposed control algorithm provides good tracking performance.
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March 2011
Research Papers
Design and Control of Chemomuscle: A Liquid-Propellant-Powered Muscle Actuation System
Xiangrong Shen,
Xiangrong Shen
Department of Mechanical Engineering,
University of Alabama
, 290 Hardaway Hall/7th Avenue, Box 870276, Tuscaloosa, AL 35487
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Daniel Christ
Daniel Christ
Department of Mechanical Engineering,
University of Alabama
, 290 Hardaway Hall/7th Avenue, Box 870276, Tuscaloosa, AL 35487
Search for other works by this author on:
Xiangrong Shen
Department of Mechanical Engineering,
University of Alabama
, 290 Hardaway Hall/7th Avenue, Box 870276, Tuscaloosa, AL 35487
Daniel Christ
Department of Mechanical Engineering,
University of Alabama
, 290 Hardaway Hall/7th Avenue, Box 870276, Tuscaloosa, AL 35487J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 021006 (8 pages)
Published Online: February 22, 2011
Article history
Received:
December 8, 2009
Revised:
August 30, 2010
Online:
February 22, 2011
Published:
February 22, 2011
Citation
Shen, X., and Christ, D. (February 22, 2011). "Design and Control of Chemomuscle: A Liquid-Propellant-Powered Muscle Actuation System." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 021006. https://doi.org/10.1115/1.4003208
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