Study on Modeling of Mckibben Pneumatic Artificial Muscle

Based on the analysis of performance of the Mckibben pneumatic artificial muscles, investigation was carried out on the functional mechanism of pneumatic artificial muscle of the braided type. A geometric model was derived for Mckibben Pneumatic artificial muscle, taking the radial constraints at both ends into consideration. Numerical calculation was also done with the geometric model. Comparison was made between the ideal cylinder model and the current model, and conclusion was drawn that the geometric model put forward may even more exactly express the behavior and properties of the Mckibben pneumatic artificial muscle actuator. It is of significance for such study with findings in the construction of more exact pneumatic artificial muscle models.