Title :
A model of pneumatic muscle actuated joint using linearized method
Author :
Sui, L.M. ; Xie, Sheng Q.
Author_Institution :
Coll. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin, China
Abstract :
The modeling of pneumatic muscle actuator has been widely studied by many researchers. Many of the models are so complex and hard to apply in real time applications. In this paper, a simple model of pneumatic muscle is developed by using a linearized method. The stiffness and pressure-force coefficient of pneumatic muscle are used to represent the characteristics of the pneumatic muscle. A model of a joint actuated by pneumatic muscles is established and studied based on the model of the individual pneumatic muscle. The position and stiffness control model of the joint is obtained, and the dynamic model of the joint is developed and analyzed.
Keywords :
pneumatic actuators; joint dynamic model; linearized method; pneumatic muscle actuated joint; pneumatic muscle actuator; pressure force coefficient; real time application; Biological system modeling; Equations; Force; Joints; Mathematical model; Muscles; Torque; Pneumatic muscle actuator; biomimetic joint; linear model; modeling;
Conference_Titel :
Mechatronics and Machine Vision in Practice (M2VIP), 2012 19th International Conference
Conference_Location :
Auckland
Print_ISBN :
978-1-4673-1643-9
