Dynamic Actuating Characteristic of Pneumatic Muscle Actuator

何国昆; 刘吉轩; 张振营

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Dynamic Actuating Characteristic of Pneumatic Muscle Actuator

更新时间：2025-12-08

- Dynamic Actuating Characteristic of Pneumatic Muscle Actuator
- Vol. 42, Issue 5, Pages: 588-591(2008)
- 作者机构：
  
  西安交通大学机械工程学院,西安,710049
- 作者简介：
- 基金信息：
- DOI：
  CLC： TH138.51
- Online First：10 May 2008，
  
  Published：2008
- 稿件说明：
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何国昆, 刘吉轩, 张振营. Dynamic Actuating Characteristic of Pneumatic Muscle Actuator[J]. 2008, 42(5): 588-591.
DOI：

何国昆, 刘吉轩, 张振营. Dynamic Actuating Characteristic of Pneumatic Muscle Actuator[J]. 2008, 42(5): 588-591. DOI：

摘要

针对由气动人工肌肉、高速开关阀和PLC控制器等组成的气动系统

分析了气动人工肌肉系统动态收缩量的数学模型

描述了收缩量随着工作频率和气压的变化关系

将收缩量理论模型与实验值的误差控制在4%以内

为气动人工肌肉的定位控制提供了理论基础.考虑到气动人工肌肉在动态过程中存在内部橡胶材料阻尼和空气流体阻尼

在现有的驱动力数学模型上添加了阻尼力项

建立了阻尼力与工作气压、工作频率和人工肌肉结构参数的数学模型

将气动人工肌肉动态驱动力的误差从16%下降到2.7%.通过理论仿真和实验验证

证明了所建立的动态收缩量数学模型和所改进的动态驱动力数学模型的正确性.

Abstract

Aiming at the pneumatic muscle actuator(PMA)system mainly made up of pneumatic muscle actuator

programmable logic controller and high speed switch valve

a mathematic model is established to describe the dynamic constringency length of PMA governed by frequency and pressure. The error of theoretically predicted length is below 4% of the mean value. Considering the rubber damp and fluid damp of PMA

a new model is proposed based on the existing model for more accurately prediction of the dynamic actuating characteristics of the PMA system. A comparison between the simulation and experiment indicates the correctness of the dynamic constringency length model and the modified actuating characteristics model.

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references

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YANG Gang, LI Baoren, LIU Jun. Artificial pneumatic muscles actuator: a new type of pneumatic actuator[J].Chain Mechanical Engineering,2003,14(15):1347-1349.

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TONDU B, LOPEZ P. Modeling and control of mckibben artificial muscle robot actuators[J].IEEE Control Systems Magazine,2000(5):15-38.

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