Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles
A novel ball-and-plate mechanism actuated with pneumatic artificial muscles is presented in this paper. The pneumatic muscles are arranged in two antagonistic configuration pairs to generate torque around two axes of plate rotation. The ball-and-plate system is classified as an under-actuated, high-...
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| Format: | Article |
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University North
2025-01-01
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| Series: | Tehnički Glasnik |
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| Online Access: | https://hrcak.srce.hr/file/478123 |
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| author | Juraj Benić Andreas Šantek Željko Šitum |
| author_facet | Juraj Benić Andreas Šantek Željko Šitum |
| author_sort | Juraj Benić |
| collection | DOAJ |
| description | A novel ball-and-plate mechanism actuated with pneumatic artificial muscles is presented in this paper. The pneumatic muscles are arranged in two antagonistic configuration pairs to generate torque around two axes of plate rotation. The ball-and-plate system is classified as an under-actuated, high-order nonlinear system, with additional nonlinearities introduced by the air compressibility of the pneumatic muscles. A nonlinear mathematical model of the ball-and-plate system has been derived, in which the proposed system is modelled as two ball-and-beam systems, each representing one direction of the ball’s movement. Along with the nonlinear equations of motion, a simplified dynamical model of the pneumatic muscles and the proportional valve is included. The linearized model is developed and represented in a state-space form, which is used for LQR controller synthesis. The proposed controller is tested through numerical simulations and experimentally validated on the developed ball-and-plate mechanism setup. |
| format | Article |
| id | doaj-art-5ad86be0d2f64a8f869a3338031da0a4 |
| institution | OA Journals |
| issn | 1846-6168 1848-5588 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | University North |
| record_format | Article |
| series | Tehnički Glasnik |
| spelling | doaj-art-5ad86be0d2f64a8f869a3338031da0a42025-08-20T02:10:42ZengUniversity NorthTehnički Glasnik1846-61681848-55882025-01-0119si1131810.31803/tg-20250226133036Ball and Plate Mechanism Actuated with Pneumatic Artificial MusclesJuraj Benić0Andreas Šantek1Željko Šitum2School of Applied Mathematics and Computer Science, University of Osijek, Trg Ljudevita Gaja 6, 31000 Osijek, CroatiaUniversity of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Ivana Lučića 5, 10000 Zagreb, CroatiaUniversity of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Ivana Lučića 5, 10000 Zagreb, CroatiaA novel ball-and-plate mechanism actuated with pneumatic artificial muscles is presented in this paper. The pneumatic muscles are arranged in two antagonistic configuration pairs to generate torque around two axes of plate rotation. The ball-and-plate system is classified as an under-actuated, high-order nonlinear system, with additional nonlinearities introduced by the air compressibility of the pneumatic muscles. A nonlinear mathematical model of the ball-and-plate system has been derived, in which the proposed system is modelled as two ball-and-beam systems, each representing one direction of the ball’s movement. Along with the nonlinear equations of motion, a simplified dynamical model of the pneumatic muscles and the proportional valve is included. The linearized model is developed and represented in a state-space form, which is used for LQR controller synthesis. The proposed controller is tested through numerical simulations and experimentally validated on the developed ball-and-plate mechanism setup.https://hrcak.srce.hr/file/478123ball and plateLQRmathematical modelingpneumatics muscles |
| spellingShingle | Juraj Benić Andreas Šantek Željko Šitum Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles Tehnički Glasnik ball and plate LQR mathematical modeling pneumatics muscles |
| title | Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles |
| title_full | Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles |
| title_fullStr | Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles |
| title_full_unstemmed | Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles |
| title_short | Ball and Plate Mechanism Actuated with Pneumatic Artificial Muscles |
| title_sort | ball and plate mechanism actuated with pneumatic artificial muscles |
| topic | ball and plate LQR mathematical modeling pneumatics muscles |
| url | https://hrcak.srce.hr/file/478123 |
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