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《Journal of Zhejiang University(Engineering Science)》 2007-03
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Modelling and simulation of joint actuated by pneumatic muscles

XIE Jian-wei1,TAO Guo-liang1,ZHOU Hong2(1.State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China;2.FESTO Company,Shanghai 201206,China)  
For reducing the cost of traditional pneumatic systems,a one degree of freedom(DOF) joint system driven by pneumatic muscle actuators(PMAs) was designed.Based on characteristics of PMAs and pulse-width modulation(PWM) highspeed on-off valves,the multi-input 4th-order affine nonlinear mathematical model of the system was achieved.The system static and dynamic output characteristics under different control inputs were simulated and analyzed.The influences of four major factors including friction,load,supply pressure and working volume on system characteristics were studied.The results show that the system is openloop stable,approximative static input-output linearity exists regardless of the friction force presence,but the static friction impacts the stable output.Both the increasing load and the reducing supply pressure can exacerbate output fluctuations and overshooting.System response can be improved after reducing the internal working volume of PMAs.
【CateGory Index】: R318.17
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【References】
Chinese Journal Full-text Database 1 Hits
1 XIE Jian-wei1,TAO Guo-liang1,ZHOU Hong2(1.State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China;2.FESTO(China) Ltd.,Shanghai 201206,China);Tracking control simulation of pneumatic muscle actuator joint using saturated adaptive robust controller[J];Journal of Zhejiang University(Engineering Science);2008-06
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