Details

Autor(en) / Beteiligte

• Liu, Kai
• Chen, Yining
• Wu, Yang
• Xu, Jiaqi
• Wang, Yangwei
• Ge, Zhishang

Titel

Rotation Control of a 3-DOF Parallel Mechanism Driven by Pneumatic Muscle Actuators

Ist Teil von

• Transactions of Nanjing University of Aeronautics & Astronautics, 2019-04, Vol.36 (2), p.330

Ort / Verlag

Nanjing: Nanjing University of Aeronautics and Astronautics

Erscheinungsjahr

2019

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• 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.