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

doi:10.3901/JME.2023.21.199

Abstract

Abstract: 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.

Key words: pneumatic bending artificial muscle, variable section cylinder method, variable step runge-kutta method, dynamics, sensitivity analysis

CLC Number:

TG156

DU Hongwang, XU Xiaoya, SHAO Renbo, XIONG Wei, WANG Haitao. Modeling, Analysis and Verification of Transient Dynamics of Pneumatic Bending Artificial Muscle[J]. Journal of Mechanical Engineering, 2023, 59(21): 199-208.

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