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

doi:10.16183/j.cnki.jsjtu.2020.092

Abstract

Abstract:

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:

TP242

LEI Jingtao, ZHANG Yuewen, DAI Zhenhao, XU Zili. Modeling and Experimental Study on Static Characteristics of Bionic Pneumatic Muscle Fiber[J]. Journal of Shanghai Jiao Tong University, 2021, 55(5): 566-574.

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参数	取值
气动肌纤维外径/mm	2.60
橡胶管外径/mm	2.00
橡胶管内径/mm	1.28
外套管纤维数量/根	32
外套管纤维直径/mm	0.16
外套管编织角/(°)	17~18
最大收缩力/N	27~29
最大收缩率/%	29

SPMF	PMFB
l₀/mm	l₀/mm	n
120	120	6
200	120	8
300	120	10

n	τ	φ	ω
6	-0.141	7.092	0.592
8	-0.255	10.580	2.248
10	-0.294	12.540	1.720

相关系数	τ(i=1)	φ(i=2)	ω(i=3)
d_i	0.0092	-0.191	-0.2731
e_i	-0.1854	4.418	4.6510
f_i	0.6395	-12.540	-17.4900