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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Novel Considerations on Static Force Modeling of Pneumatic Muscle Actuators
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Novel Considerations on Static Force Modeling of Pneumatic Muscle Actuators

机译：气动肌肉执行器静态力建模的新思路

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摘要

In this paper, a modified static force modeling approach, which is based on fundamental pneumatic muscle actuator (PMA) modeling techniques, is proposed. In addition, the thermal expansion effect is considered as the main cause of the gradual shift in the PMA's force-displacement relationship and the geometric properties, which are being affected by the thermal build-up occurring during the PMA's continuous operation, are incorporated into the static force models. The effects of thermal expansion are documented via experimental studies, and the acquired force-displacement data are utilized for the validation of the proposed modeling method in PMAs of different nominal dimensions and at different test pressures. Finally, an additional evaluation is performed via the comparison of accuracy between the proposed model and the existing geometric static modeling approaches.
机译：本文提出了一种改进的静力建模方法，该方法基于基本的气动肌肉致动器（PMA）建模技术。此外，热膨胀效应被认为是PMA力-位移关系逐渐变化的主要原因，并且受PMA连续运行过程中发生的热累积影响的几何特性已被纳入其中。静力模型。通过实验研究记录了热膨胀的影响，并将获得的力-位移数据用于验证不同公称尺寸和不同测试压力下的PMA中所提出的建模方法。最后，通过比较所提出的模型与现有几何静态建模方法之间的准确性来执行附加评估。

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