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Dynamic contraction behaviour of pneumatic artificial muscle

机译：气动人工肌肉的动态收缩行为

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The development of a dynamic model for the Pneumatic Artificial Muscle (PAM) is an imperative undertaking for understanding and analyzing the behaviour of the PAM as a function of time. This paper proposes a Newtonian based dynamic PAM model that includes the modeling of the muscle geometry, force, inertia, fluid dynamic, static and dynamic friction, heat transfer and valve flow while ignoring the effect of bladder elasticity. This modeling contribution allows the designer to predict, analyze and optimize PAM performance prior to its development. Thus advancing successful implementations of PAM based powered exoskeletons and medical systems. To date, most muscle dynamic properties are determined experimentally, furthermore, no analytical models that can accurately predict the muscle's dynamic behaviour are found in the literature. Most developed analytical models adequately predict the muscle force in static cases but neglect the behaviour of the system in the transient response. This could be attributed to the highly challenging task of deriving such a dynamic model given the number of system elements that need to be identified and the system's highly non-linear properties. The proposed dynamic model in this paper is successfully simulated through MATLAB programing and validated the pressure, contraction distance and muscle temperature with experimental testing that is conducted with in-house built prototype PAM's.
机译：气动人工肌肉（PAM）动态模型的开发是理解和分析随时间变化的PAM行为的当务之急。本文提出了一种基于牛顿的动态PAM模型，该模型包括对肌肉几何形状，力，惯性，流体动力学，静态和动态摩擦，传热和瓣膜流量的建模，同时忽略了膀胱弹性的影响。建模的贡献使设计人员可以在开发PAM之前对其进行预测，分析和优化。因此，推进了基于PAM的动力外骨骼和医疗系统的成功实施。迄今为止，大多数肌肉动力学特性是通过实验确定的，此外，在文献中还没有找到可以准确预测肌肉动力学行为的分析模型。大多数开发的分析模型可以充分预测静态情况下的肌肉力量，但在瞬态响应中忽略了系统的行为。鉴于需要确定的系统元素数量以及系统的高度非线性特性，这可以归因于推导这样一个动态模型的艰巨任务。本文提出的动态模型通过MATLAB编程成功进行了仿真，并通过内部构建的原型PAM进行的实验测试验证了压力，收缩距离和肌肉温度。

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