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

• 作 者: LIU Kai CHEN Yining WU Yang XU
• 机 构: CollegeofMechanicalandElectricalEngineering
• 出 处: 南京航空航天大学学报:英文版
• 发表日期: 2019年2期
• 关键词: PNEUMATIC MUSCLE ACTUATOR static mathematical model hybrid elastic MODULUS 3-DOF
• 基金项目: the National Natural Science Foundation of China(No.51405229),the Natural Science Foundation of Jiangsu Province of China(Nos.BK20151470,BK20171416),the authors are grateful for the support.

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.