According to the deficiency of the present model of pneumatic artificial muscles (PAM), a serial model is built up based on the PAM's essential working principle with the elastic theory, it is validated by the quasi-static and dynamic experiment results, which are gained from two experiment systems.The experiment results and the simulation results illustrate that the serial model has made a great success compared with Chou's model, which can describe the force characteristics of PAM more precisely.A compensation item considering the braid's elasticity and the coulomb damp is attached to the serial model based on the analysis of the experiment results.The dynamic experiment proves that the viscous damp of the PAM could be ignored in order to simplify the model of PAM.Finally, an improved serial model of PAM is obtained.
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