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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Nonlinear dynamics of a parametrically excited pneumatic artificial muscle (PAM) actuator with simultaneous resonance condition
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Nonlinear dynamics of a parametrically excited pneumatic artificial muscle (PAM) actuator with simultaneous resonance condition

机译：具有同时共振条件的参数兴奋的气动人工肌肉（PAM）执行器的非线性动力学

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摘要

In this present work, the pneumatic artificial muscle is modelled as a single degree of freedom system and the governing nonlinear equation of motion has been derived to study the responses of the system under simultaneous simple and principal parametric resonance conditions. The equation has been developed considering the pneumatic muscle force as a function of the static and the time varying pressure, dimensions and material properties of the artificial muscle. The second order method of multiple scales has been used to find the approximate solutions and to study the dynamic stability and bifurcations of the system. The influences of the various system parameters in the amplitude for the muscle have also been studied with the help time responses, regions of parametric instability and frequency responses. The applications of the present study are illustrated through numerical examples. This work will help the designer or researchers working in this field to determine the safe operating range of the system parameters for different applications of pneumatic artificial muscle. (C) 2019 Elsevier Ltd. All rights reserved.
机译：在本作本作中，充气人工肌被建模为单一的自由度系统，并且已经得出了管理非线性运动方程，以研究在同时简单和主要的参数共振条件下系统的响应。根据静态和时变压力，尺寸和材料性质的函数，考虑到气动肌肉，尺寸和人工肌肉的尺寸和材料特性，开发了该等式。多个尺度的二阶方法已被用于找到近似解决方案并研究系统的动态稳定性和分叉。还通过帮助时间响应，参数稳定性和频率响应的区域研究了各种系统参数在肌肉幅度中的影响。本研究的应用通过数值例子说明。这项工作将帮助设计师或研究人员在该领域中，以确定用于不同应用气动人造肌肉的系统参数的安全工作范围。 （c）2019年elestvier有限公司保留所有权利。

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