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Zhou Aiguo
Shi Guanglin
Zhong Tingxiu
Institute of Mechatronics,
School of Mechanical and
Power Engineering,
Shanghai Jiaotong University,
Shanghai 200030, China |
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MODEL IMPROVEMENT AND EXPERI-
MENT VALIDATION OF PNEUMATIC
ARTIFICIAL MUSCLES
Abstract:
According to the deficiency of the present model of pneumatic artificial muscles (PAM), a serial model is built up based on the PAM’s
essential working principle with the elastic theory, it is
validated by the quasi-static and dynamic experiment results,
which are gained from two experiment systems. The experiment
results and the simulation results illustrate that the serial
model has made a great success com-pared with Chou’s model,
which can describe the force characteristics of PAM more
precisely. A compensation item considering the braid’s
elasticity and the coulomb damp is attached to the serial model
based on the analysis of the experiment results. The dynamic
experiment proves that the viscous damp of the PAM could be
ignored in order to simplify the model of PAM. Finally, an
improved serial model of PAM is obtained.
Key words:
Pneumatic artificial muscles Serial model Quasi-static Dynamic Compensation |