Modeling, Analysis and Verification of Transient Dynamics of Pneumatic Bending Artificial Muscle

被引：0
|
作者：
Du H. [1 ]
Xu X. [1 ]
Shao R. [1 ]
Xiong W. [1 ]
Wang H. [1 ]
机构：
[1] Marine Electromechanical Equipment Research Institute, Dalian Maritime University, Dalian
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2023年 / 59卷 / 21期
关键词：
dynamics; pneumatic bending artificial muscle; sensitivity analysis; variable section cylinder method; variable step runge-kutta method;
D O I：
10.3901/JME.2023.21.199
中图分类号：
学科分类号：
摘要：
Pneumatic flexing artificial muscle is the core equipment of flexible manipulator. To solve the problem that accurate control is difficult due to its hysteresis nonlinearity, a variable cross-section cylinder method is proposed for dynamic modeling and analysis. Fourth-order Runge-Kutta method with variable step size is used for numerical calculation of the model, and the sensitivity of key parameters affecting its dynamic characteristics is analyzed. Further, the dynamic characteristics of bending actuator with braided angle of 60° are simulated and verified by experiment. The results show that the dynamic model proposed can accurately describe the transient response characteristics of the actuator. The actuator can complete the charging process in less than 1 s and respond quickly in less than 0.1 s with a model error of less than 5%. Dynamic model lays a theoretical foundation for high-precision grasping of flexible manipulator. © 2023 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.
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页码：199 / 208
页数：9
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