Nonlinear Model of Artifical Muscle

Abstract

We propose the nonlinear model of the rubber actuator which includes the variation of compliance with the volume change. It is clear that the model is adequate to express dynamics of an artificial muscle. Kew Words: pneumatic system, rubber actuator, nonlinear model, compliance change 1. ‚Í ‚ ¶ ‚ß ‚É ƒSƒ€•l •H‹Ø ƒA ƒN ƒ` ƒ…ƒG •[ ƒ^ ‚Í, ‹ó ‹Cˆ³‹Cˆ³ ƒV ƒŠƒ"ƒ_ ‚É"ä ‚× OEy-Ê ‚Å •""{ ‚Ì •o-Í ‚ª "¾ ‚ç‚ê ‚é ‚± ‚AE‚© ‚ç, ‰î OEì ‹@Ší ‚È ‚Ç‚É ‰ž-p ‚³‚ê ‚Â ‚ ‚ ‚é1). •l •H ‹Ø ‚ð-p ‚¢ ‚½‰ð •Í, ƒT •[ ƒ{ OEn ‚Ì• § OEä ‚ÉŠÖ ‚· ‚é ‚¢ ‚-‚ ‚© ‚ÌOE¤ ‹ † ‚Í ‚Ý ‚ç‚ê ‚é2),3)‚ª, ‚» ‚Ì ƒ‚ ƒf ƒ‹ ‚Í•üOE`üOE`‚AE ‚µ‚Ĉµ ‚í ‚ê •l •H‹Ø ‚Ì "ñ•ü OE`OE`•« ‚Í•l-¶ ‚³ ‚ê ‚Ä ‚¢ ‚È ‚¢. "Á ‚É"® "Á •« ‚ð• ¶ ‰E ‚· ‚é'Ì •Ï•Ï ‰» ‚É"º ‚¤ ƒR ƒ"ƒv ƒ‰ ƒC ƒA ƒ"ƒXOEø ‰Ê ‚ð"K •Ø ‚Ɉµ ‚Á‚½OE¤ ‹ † ‚Í'm OE© ‚µ‚È ‚¢. ‚» ‚±‚Å-{ OE¤ ‹ † ‚Å ‚Í ‚±‚ÌOEø ‰Ê ‚AE"ñ•ü OE`-v 'f ‚ðŽae ‚è"ü ‚ê ‚½•"Šw ƒ‚ ƒfƒ‹ ‚ð•\ 'z ‚µ, ƒV ƒ~ƒ… ƒOE•[ ƒV ƒ ‡ ƒ" ‚AEŽÀOE± ‚É ‚ae ‚è, ‚» ‚Ì'à "-•« ‚ðŠm "F ‚· ‚é ‚± ‚AE‚ð-Ú"I ‚AE‚· ‚é. ‚Ü‚½, 'e•« ‚ð-L ‚· ‚é‹ó ‹C ˆ³ ƒA ƒNƒ`ƒNƒ`ƒ…ƒG •[ ƒ^ ‚à'½ ‚-'ñ ˆÄ ‚³‚ê ‚Ä ‚¢ ‚邪4), ‚» ‚ê ‚ç ‚É ‚¨‚¢‚Ä‚¨‚¢‚Ä ‚à"¯-l ‚ȉð •Í ‚ª •s ‚¦ ‚é ‚à‚Ì ‚AE•l ‚¦‚é.