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- Title
Rotation Control of a 3-DOF Parallel Mechanism Driven by Pneumatic Muscle Actuators.
- Authors
LIU Kai; CHEN Yining; WU Yang; XU Jiaqi; WANG Yangwei; GE Zhishang
- Abstract
The pneumatic muscle actuator (PMA) has many advantages, such as good flexibility, high power / weight ratio, but its nonlinearity makes it difficult to build a static mathematical model with high precision. A new method is proposed to establish the model of PMA. The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward, and the energy conservation law is used to achieve the expression of the hybrid elastic modulus, which can be fitted out based on experimental data, and the model of PMA can be derived from this expression. At the same time, a 3 - DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed. This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics. The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it. Experimental results demonstrate the effectiveness of this new static model.
- Subjects
PNEUMATIC actuators; ELASTIC modulus; MATHEMATICAL models; ENERGY conservation laws; DATA analysis
- Publication
Transactions of Nanjing University of Aeronautics & Astronautics, 2019, Vol 36, Issue 2, p330
- ISSN
1005-1120
- Publication type
Article
- DOI
10.16356/j.1005-1120.2019.02.016