Journal of South China University of Technology(Natural Science Edition) ›› 2004, Vol. 32 ›› Issue (9): 41-45.

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Nonlinear Characteristics of the Multi -DOF Platform Driven by Pneumatic Artificial Muscle

Shi Guang- lin1 Zhou Ai- guo2 Zhong Ting- xiu1   

  1. 1．Institute of Mechatronics Control‚Shanghai Jiaotong Univ．‚Shanghai200030‚China；
    2．College of Mechanical Engineering‚Tongji Univ．‚Shanghai200092‚China
  • Received:2003-09-10 Online:2004-09-20 Published:2015-09-09
  • Contact: 施光林（1963－）‚男‚副教授‚博士‚主要从事液压元件、非线性控制、并联机器人和气动人工肌肉的研究． E-mail:glshi＠263.net
  • About author:施光林（1963－）‚男‚副教授‚博士‚主要从事液压元件、非线性控制、并联机器人和气动人工肌肉的研究．

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Abstract:  An experimental system of the novel mult- i degree of freedom （Mult- i DOF） platform driven by pneumatic artificial muscle （PAM） was constructed in this paper．Based on the analysis of the kinematic property of the system‚a nonlinear dynamic model of the platform system was established in the form of a differential equation．Then‚it was transformed into the state space with the style of an affine nonlinear model．Furthermore‚by making a comparison between the numerical simulated and the experimental results‚the correctness of the model was proved and the nonlinear characteristics of the system were obtained．It is concluded that the mult- i DOF platform driven by PAM is of excellent controllability and stability．

Key words:  pneumatic artificial muscle, mult- i DOF platform, nonlinear characteristic