| Issue |
MATEC Web Conf.
Volume 232, 2018
2018 2nd International Conference on Electronic Information Technology and Computer Engineering (EITCE 2018)
|
|
|---|---|---|
| Article Number | 04071 | |
| Number of page(s) | 4 | |
| Section | Circuit Simulation, Electric Modules and Displacement Sensor | |
| DOI | https://doi.org/10.1051/matecconf/201823204071 | |
| Published online | 19 November 2018 | |
Study on static characteristics of pneumatic muscles
1
College of Transportation, Ludong University, Yantai, China
2
School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China
3
Department of Mechanical Engineering, Harbin Institute of Technology at Weihai, Weihai, China
a Corresponding author: yanhongwei123456@126.com
In this paper, the static characteristics of pneumatic muscles are studied by means of theoretical modelling, numerical simulation and experimental verification. Firstly, on the basis of ideal mathematical model, the static mathematical model of pneumatic muscle considering elasticity and friction of rubber is given. Based on the established mathematical model, a pneumatic muscle simulation model is established by using SIMULINK toolbox in MATLAB software environment, which includes model parameter assignment module, pneumatic muscle ideal module, elastic force simulation module, friction simulation module and so on. The influence of elastic force and frictional force of rubber layer on the output force of pneumatic muscle during pneumatic filling is studied by numerical simulation. Finally, a mechanical gripper test rig driven by pneumatic muscle is built. The experimental results show that pneumatic muscle actuator has certain flexible grasping characteristics. The research results provide a reference for the wide application of pneumatic muscle.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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