Pneumatic Artificial Muscles Drive The Design And Control Of Humanoid Elbow

A lot researches have being carried on the bionics robotic arm widely and deeply as bionics and robotics developing quickly. For bionics robotic armexcels at agility and facility, it is quite popular in medical treatment, servingas well as entertainment filed. Pneumatic artificial muscle can be used asactuators which drive robotic arm directly. Bionics robotic arm with pneumatic artificial muscle is much smaller in weight, cost as well as portable.The research object of the paper is pneumatic muscle, build the pneumatic muscle static and dynamic model, and applied to the bionics elbow joint driven by pneumatic muscle. After analyzed characteristics of the pneumatic joint control system, a fuzzy-PID control was used to control the pneumatic joint by combining fuzzy theory with PID control, the simulation of the system was conducted by using the SIMULINK toolbox of MATLAB.First, the development history of the pneumatic artificial muscle(PAM) and recent research achievements of main domestic and overseas organizations are reviewed, simplified and improved static and dynamic mathematical models have been developed based on the current theoretical approaches in the dissertation.Second, several methods to install robotic arm with pneumatic artificial muscles are introduced. With carefully study on advantages and disadvantages of these methods this thesis presents the design scheme of the bionics elbow joint. The pneumatic and control system is also built with high speed on/off solenoid valves and PLC, angle sensor, etc.Finally, this thesis builds the dynamics model according to the pneumatic and control system. The system simulation was conducted by using both PID control strategy and Fuzzy-PID control based on SIMULINK toolbox of MATLAB. Simulation results indicate that, compared with classical PID control, fuzzy PID control can improve dynamic capability, and shorten response time.