Journal of Shanghai Jiao Tong University ›› 2021, Vol. 55 ›› Issue (5): 566-574.doi: 10.16183/j.cnki.jsjtu.2020.092

Special Issue: 《上海交通大学学报》2021年12期专题汇总专辑 《上海交通大学学报》2021年“自动化技术、计算机技术”专题

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Modeling and Experimental Study on Static Characteristics of Bionic Pneumatic Muscle Fiber

LEI Jingtao(), ZHANG Yuewen, DAI Zhenhao, XU Zili   

  1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
  • Received:2020-04-03 Online:2021-05-28 Published:2021-06-01


In this paper, the static characteristics modeling and experimental study of pneumatic muscle fiber (PMF) are conducted. Considering the influence of end deformation, friction, and dead zone pressure on the static characteristics of PMF, a mathematical model of static characteristics of PMF is proposed. The static characteristics experimental platform is designed, and the static characteristics experiments of PMF and pneumatic muscle fiber bundles (PMFB) are performed, including the isometric experiment, the isotonic experiment, and the isobaric experiment. The static characteristics of PMF and PMFB with different specifications are compared and analyzed. Based on the isobaric characteristic curves obtained from the experiment, an experimental model of PMFB is proposed. Besides, the mathematical models of static characteristics of PMF and PMFB are identified by a large number of experimental data, which are in line with the actual situation. The study in this paper will lay the foundation for the precise control of micro bionic robot driven by PMF.

Key words: pneumatic muscle fiber (PMF), pneumatic muscle fiber bundle (PMFB), static characteristic

CLC Number: