Mathematical Model of Pneumatic Artificial Muscle Reinforced by Straight Fibers

摘要: This article describes a mathematical model of pneumatic artificial muscle reinforced by straight fibers. The is lightweight and high power. In addition, it possible for to emit exhaust into the atmosphere because transmission medium its energy air, needs neither tank nor maintenance like hydraulic equipment. safety person environment base actuator soft polymeric material even if damage caused. On other hand, device composed thin film cylinder, easily influenced outside power conversion volume change in rubber physical contraction axially, passive character strong, precise positional control difficult. However, living thing that has verbose degree freedom enables minute motion walking, etc. skillfully adjusting avoid impedance, understands own muscular characteristic beforehand. Similarly, thought understanding characteristics an this research, assumed expansion shape we developed from pressure distribution equivalent centenary curve, based on dynamic balance. result shows effectiveness uses highly accurate calculations models.