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Dynamic Mathematics Model of a Kind of 3 DOF Parallel Platform Based on Pneumatic Artificial Muscles
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SHEN Wei,SHI Guanglin
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(School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
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Abstract In terms of a pneumatic artificial muscle parallel platform, a new mathematic model of pneumatic artificial muscle was introduced to derive the state space 3 DOF mathematics model. In 3 DOF PID position tracking control experiments, the corresponding physic parameters data were collected. The inner air pressure data collected in the experiment are taken as the input to simulation dynamic models. The comparative study of simulations and experiments suggests the rationality and validity of the dynamic model.
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Received: 13 June 2010
Published: 28 February 2011
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