Modeling and Enhancement of Mckibben Pneumatic Muscle Actuators
Mckibben pneumatic muscle actuators (PMA) have many advantages such as high power-mass ratio and low price,but their strong nonlinear characteristics makes modeling and controlling very hard,which limits their applications.This paper presents the modeling of PMA and methods to enhance their dynamic performances.Considering the incorporated models of fast-switching valves and PMAs,the entire system model is modified in some aspects and the dominant model parameters are determined through experimental results to estimate the dynamic characteristics precisely.Simulation and proper experiments reveal that the dynamic performance of PMA can be improved through filling the PMA with materials of high thermal conductivity.The slow time-varying disturbance caused by the temperature variation of inner gas can be reduced much,which lowers the difficulty of controlling
Pneumatic Muscle Modeling Dynamic Thermodynamics
He Zuo Guo Liang Tao Xiao Cong Zhu
Zhejiang University,Hangzhou,China The Hong Kong Polytechnic University,Hong Kong,China
国际会议
广州
英文
793-796
2012-11-16（万方平台首次上网日期，不代表论文的发表时间）