Research On Vibration Control Platform Based-on Pneumatic Muscle Actuators

The pneumatic muscle actuator (PMA) is a novel pneumatic actuator, which has been drawn attention by the specialists in many countries. By means of simulation and experiments which have been done and accepted generally, basic static characteristics of the PMA,such as pressure, force, length and stiffness of linear joint driven by PMA are studied in the paper. Based on the characteristics analysis results of the linear joint driven by PMA , a active damping platform system is designed.Firstly, based on the realistic model which is common to universal, the static characteristics is analysed. And considering PMA as a variable stiffness spring, a new simplified static stiffness expression is founded compared to the general models in some other papers. Also, static characteristics of linear joint driven by PMA are studied by method of experiment and simulation and further the active damping control system based on PMA.Secondly, the model of the static characteristics of the initial working conditions and of the working conditions with the equally-changed pressure and variable pressure is presented. Based on such theory analysis results, a experiment is presented about the static drive characteristics of the linear joint driven by PMA,and the static stiffness model of the linear joint driven by PMA is presented and the research results verify the simplified mathematic model of PMA.Finally, a active vibration control system is founded based on the linear joints driven by the PMA and its dynamic model is presented. The comparative simulation graphes of the damping effect with different frequencies in active and positive vibration isolation are presented. Furthermore, aiming at the active damping system, an experiment system is founded and the experimental results testify that the vibration control system based on the linear joints driven by the PMA is available for the low frequency damping.