Dynamic And Static Characteristic Research And Improved Preparation Of Braided Type Pneumatic Artificial Muscle

The pneumatic artificial muscles(PAM)has been used in wearable devices,flexible robots and other fields as a new type of pneumatic actuator by its merits such as simple structure,low cost and high power weight ratio,especially passive compliance.At present,the mainly manufacturers of commercial PAM are the German Festo company and the British Shadow company.There is no domestic production in China.This paper studied the characteristics of braided type PAM,and improved the performance of the PAMs on the basis,so as to provide reference for the localization of PAMs.First,the geometric structure of braided type PAM was analyzed,and its working principle was expounded.On this basis,considered the rubber tube thickness,dead pressure and friction between rubber hose and braid of PAM,the relative complete static mathematical model was established.The braided type of PAM was regarded as an air cylinder with variable cross section based on the mature analysis theory of the cylinder.Then,dynamic and static characteristic of braided type PAM is studied in the simulation experiment.And then,the experimental platform of braided type PAM was designed and built which could be used to test the characteristics of constant pressure,equal length and power to weight ratio.This article described the design and manufacture process of braided type PAM,mainly including the preparation of key parts of material selection,the working principle of knitting machine and the design of the dimension of the end of braided type PAM.Finally,details of the assembly process of preparation of braided type PAM were introduced.Finally,the static and dynamic characteristics of compilation of the braided type PAM were studied by experiment.Meanwhile,the influence of the alteration of preparation parameters on the performance of braided type PAM was analyzed and improved.In addition,the shape memory alloy(SMA)was combined with PAM and its performance was analyzed and studied.Again after,we carried out a homemade one.The contrast experiment was carried out on the characteristics of constant pressure and weight to power ratio of Festo pneumatic artificial muscle.The experimental results show that the characteristics of constant pressure and maximum power weight of the pneumatic artificial muscle are similar to that of Festo,but the hysteresis is worse than that of Festo.