Introduction, mathematical modelling and motion control of the novel pneumatic textile actuator

Authors

  • Michael Heidingsfeld Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany
  • Ryosuke Horio Systems Engineering Laboratory, Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan
  • Bastian Baesch Institute of Textile Technology and Process Engineering Denkendorf, Denkendorf, Germany
  • Christoph Riethmüller Institute of Textile Technology and Process Engineering Denkendorf, Denkendorf, Germany
  • Götz T. Gresser Institute of Textile Technology and Process Engineering Denkendorf, Denkendorf, Germany
  • Oliver Sawodny Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany

DOI:

https://doi.org/10.1080/14399776.2016.1265875

Keywords:

differential flatness, motion control, artificial muscles, Pneumatic actuators

Abstract

This paper introduces a novel type of pneumatic actuator, namely the pneumatic textile actuator (PTA). Although the operating principle is similar to pneumatic artificial muscles, design, fabrication and properties of PTAs show significant differences. PTAs consist of double-layered textiles, fabricated in one piece using the Jacquard weaving technology. By filling the chamber between the two layers with pressurised air, one obtains a low-weight, high-power pneumatic actuator at very low cost. The paper first describes the design, fabrication and properties of PTAs in general. Then, the characteristics of a specific PTA are determined experimentally. Moreover, we derive a mathematical model of the dynamic behaviour of the PTA. The model forms the basis for a motion control algorithm, combining flatness-based feedforward and linear feedback control. Finally, the performance of the controller is evaluated experimentally. The results indicate that PTAs are well suited for motion control tasks requiring small displacements but high forces and minimum actuator weight.



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Author Biographies

Michael Heidingsfeld, Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany

Michael Heidingsfeld received the Dipl.-Ing. degree in mechanical engineering from the Karlsruhe Institute of Technology, Germany, in 2012. He is currently a research assistant at the Institute for System Dynamics, University of Stuttgart, Germany, where he is also working towards the PhD degree. His research interests include modelling, identification and control of mechatronic systems, particularly in the field of adaptive structures.

Ryosuke Horio, Systems Engineering Laboratory, Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan

Ryosuke Horio received the B.Eng. degree from Toyohashi University of Technology, Japan, in 2014. In 2015, he participated in a double-degree programme with the University of Stuttgart, Germany, where he spent two semesters at the Institute for System Dynamics. He is currently with the Systems Engineering Laboratory at Toyohashi University of Technology. His research interests include optimal control and robotics, particularly control of legged robots.

Bastian Baesch, Institute of Textile Technology and Process Engineering Denkendorf, Denkendorf, Germany

Bastian Baesch received his Dipl.-Ing. degree in mechanical engineering from the University of Stuttgart, Germany, in 2009. He is currently a team leader at the Institute of Textile Technology and Process Engineering Denkendorf, Germany where he is also working towards the PhD degree. His research interests include sensory and actuatory textiles as well as light engineering aspects of textiles.

Christoph Riethmüller, Institute of Textile Technology and Process Engineering Denkendorf, Denkendorf, Germany

Christoph Riethmüller received his Dipl.-Ing. degree in mechanical engineering from the University of Stuttgart, Germany, in 1998. He is currently a management assistant and the head of the Business Units Technology Integration (inter alia PTAs), Winding Technology and Denkendorf Future Workshop. His research interests include cross-technology product developments, pneumatic textiles in general and light engineering aspects of textiles.

Götz T. Gresser, Institute of Textile Technology and Process Engineering Denkendorf, Denkendorf, Germany

Götz T. Gresserc received the Dipl.-Ing degree in mechanical engineering from the University of Stuttgart, Germany, in 1991 and the Ph.D. degree in 1998. Since 2013 he is a full professor at the University of Stuttgart and the head of the Institute of Textile Technology and Process Engineering Denkendorf, Germany, a member of the Managing Board of The German Institutes of Textile and Fiber Research Denkendorf (DITF), Germany, as well as the head of ITV Denkendorf Product Service Ltd., Germany. His research interests include basic and practice-oriented research related to all stages of the textile production chain, from raw material to final products.

Oliver Sawodny, Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany

Oliver Sawodny received the Dipl.-Ing. degree in electrical engineering from the University of Karlsruhe, Germany, in 1991 and the PhD degree from the University of Ulm, Germany, in 1996. In 2002, he became a full professor at the Technical University of Ilmenau, Germany. Since 2005, he has been the director of the Institute for System Dynamics, University of Stuttgart, Germany. His current research interests include methods of differential geometry, trajectory generation and applications to mechatronic systems.

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Published

2017-08-01

How to Cite

Heidingsfeld, M., Horio, R., Baesch, B., Riethmüller, C., Gresser, G. T., & Sawodny, O. (2017). Introduction, mathematical modelling and motion control of the novel pneumatic textile actuator. International Journal of Fluid Power, 18(2), 92–101. https://doi.org/10.1080/14399776.2016.1265875

Issue

2017: Vol 18 Iss 2

Section

Original Article

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