一种三自由度气动人工肌肉并联平台动态数学模型

Dynamic Mathematics Model of a Kind of 3 DOF Parallel Platform Based on Pneumatic Artificial Muscles

针对一种气动人工肌肉(PAM)并联平台,采用新颖的PAM数学模型,推导出该并联平台的状态空间形式三自由度动态数学模型;以三自由度并联驱动位置跟踪实验采集的数据作为动态仿真模型的输入,进行了并联平台的动态性能仿真.仿真与实验结果对比,验证了所推导出的并联平台动态数学模型的合理性与有效性.

In terms of a pneumatic artificial muscle parallel platform,a new mathematic model of pneumatic artificial muscle was introduced to derive the state space 3 DOF mathematics model.In 3 DOF PID position tracking control experiments,the corresponding physic parameters data were collected.The inner air pressure data collected in the experiment are taken as the input to simulation dynamic models.The comparative study of simulations and experiments suggests the rationality and validity of the dynamic model.