Dynamic simulation model of pneumatic actuator with artificial muscle

Antagonistic actuator with pneumatic artificial muscles (PAMs) is a kinematic structure that consists of two pneumatic muscles acting in opposition to each other, connected through the chain gear. The resulting position of the actuator can be determined by the angle of arm of the load attached to a shaft. Stiffness position of shaft in the given direction is determined by size of pressure of the relevant pneumatic muscle, which is loaded in tension and rotation (position) of shaft is proportional to pressure difference in individual muscle. The main drawback of this actuator is that its dynamic behavior is highly nonlinear. Due to this knowledge of the muscle properties it is necessary to use the model of the muscle. This muscle model of the system is based on modified Hill´s basic model which consists of a variable damper and a variable spring connected in parallel. All the work on dynamic model was created in Matlab/Simulink environment.