Study on characteristic experiments and mathematical model of the pneumatic artificial muscle

In order to improve the accuracy of mathematical model of pneumatic artificial muscles(PAM) and enhance its usefulness,the experimental study has been carried out to test the working characteristics parameters of pneumatic artificial muscles,and experiment on mathematical model of describing characteristics of pneumatic artificial muscle was built.The static experimental system was set up for the characteristics of pneumatic artificial muscle,and the working characteristics of pneumatic artificial muscles for various indicators were measured.By least square method,the inflation pressure,load,and contraction ratio were combined with coefficient matrix organically and the experiment mathematical model of pneumatic artificial muscle was established.For a certain pneumatic artificial muscles,the built model is universal.Therefore,the conclusions have important significance for the control system design and implementation of accurate control of pneumatic artificial muscles.