Dynamic modeling of a pneumatic muscle actuator with two-direction motion

被引：73
|
作者：
Sarosi, J. [1 ]
Biro, I. [2 ]
Nemeth, J. [3 ]
Cveticanin, L. [4 ]
机构：
[1] Univ Szeged, Fac Engn, H-6725 Szeged, Hungary
[2] Univ Szeged, Fac Engn, H-6724 Szeged, Hungary
[3] Univ Miskolc, Fac Mech Engn & Informat, H-3515 Miskolc, Hungary
[4] Fac Tech Sci, Novi Sad 21000, Serbia
来源：
MECHANISM AND MACHINE THEORY | 2015年 / 85卷
关键词：
Pneumatic artificial muscle; Dynamic analysis; Motion simulation; ARM;
D O I：
10.1016/j.mechmachtheory.2014.11.006
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper a new dynamic model for an actuator applied as a pneumatic artificial muscle (PAM) is developed. The model simulates the two-direction motion of a PAM caused by a nonlinear force which depends on pressure and deformation. Parameters of the acting force are obtained analytically, applying the optimal parameter identification method, and experimentally proved on the model tested on an experimental rig. In the dynamic model the stiffness and also the damping are nonlinear functions of displacement. The nonlinear displacement force causes self-excited vibrations of PAM. Influence of different loadings on the system is investigated. Using MS Excel software and MATLAB Simulink the simulation of motion of the system is given. (C) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码：25 / 34
页数：10
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