Study On The Static Characteristics And Pretightening Force Of Mckibben Pneumatic Artificial Muscles

Pneumatic artificial muscle is a single effect drives, as a new type of pneumatic actuators, which has a wide range of research in the country.it was once called the emergence of pneumatic artificial muscles as "pneumatic technology revolution"In this paper, pneumatic artificial muscle Mckibben which is produced by Festo is studied. Using the physical laws of elasticity to establish a more realistic static pneumatic artificial muscle model. This article also discussed preload pneumatic artificial muscle static properties. In the exercise and state of the preload pretension, The output force of pneumatic artificial muscle is greater than that which without preload state output power.First, analysis of the ideal model of Chou and current research commonly used in the field of pneumatic artificial muscles. Then analyzes the static characteristics of the pneumatic artificial muscle static mathematical model, which is created by Liu Jun and Yang Gang. And find its deficiencies. This paper based on today's ideal elastic mechanics model and the laws of physics established Static Characteristic Mathematical Model which is relatively comprehensive and more realistic for the pneumatic artificial muscle In a static mathematical model, the friction force and friction theory unifying the friction will change pneumatic artificial muscles that static friction from the sliding friction into the process, when the static friction to sliding friction value, the static model friction sliding friction formula, and discusses the critical friction changes the friction curve.Secondly, in the simulation and experimental study, full use the advantages of Matlab software and the Lab VIEW software, described the main factors which affect pneumatic artificial muscle, the size of elastic force and friction force,and show that in the way of the change of visual simulation curve Through the experimental curve and simulated curve shows that the validity of the author established t the static model is Correct.Finally, discus the preload on the pneumatic artificial muscle, through experiment and simulation draw the conclution in the state preload in the pneumatic artificial muscle, its output power is greater than that without preload.In the use of pneumatic artificial muscle considered the situation of preload and verify the mathematical model of the static state which created by the author also suit in the condition of the preload is applied.