Abstract
Dynamic characteristic of thin McKibben muscle has not yet been fully investigated. Therefore, the objective of this study is to propose a piecewise affine system to model a thin McKibben muscle servo actuator. The static and dynamic modeling of the actuator has been performed using first principle approach. Different models for extension and retraction operations have been presented. The step input responses of the model have been simulated and compared to the actual system response. Result shows that the model’s response is similar to the actual system with steady-state errors of 1.18% for 0.2 MPa input and 0% for 0.25 and 0.3 MPa inputs. The evidence from this study suggests that a piecewise affine system can be used to model a thin McKibben muscle servo actuator, which would facilitate future development of a novel switching controller.
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Acknowledgements
The authors would like to acknowledge the sponsorship provided by Ministry of Higher Education Malaysia (MOHE) through support under Fundamental Research Grant Scheme (FRGS/1/2019/TK04/UTM/02/41). The authors would also like to express appreciation to Universiti Teknologi Malaysia (UTM) and Engineering Research Centre, MARDI for facilities support and all the A2Lab UTM members for their direct or indirect support in making this publication possible.
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Mhd Yusoff, M.A., Mohd Faudzi, A.A., Hassan Basri, M.S., Rahmat, M.F. (2022). A Piecewise Affine System Modeling Approach of Thin McKibben Muscle Servo Actuator. In: Khairuddin, I.M., et al. Enabling Industry 4.0 through Advances in Mechatronics. Lecture Notes in Electrical Engineering, vol 900. Springer, Singapore. https://doi.org/10.1007/978-981-19-2095-0_11
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