The Research Of Vibration Isolation System That Based On Pneumatic Artificial Muscle And Parallel Nearly Singular Structure

Vibration isolation technology plays a more and more important role as a important branch inthe field of vibration control technology. With the development of technology and people livingstandard, people for vibration isolation technology application and development put forward higherand higher requirements, the vibration isolation technology is also from the traditional passivevibration isolation technology development to the present active vibration isolation technology,and actuator has always been the hot spot of the national scholars concern and research as the maincomponent of active vibration isolation technology.Pneumatic muscle has been widely used in the world medical and industrial fields as a newmedical bionics and pneumatic actuators. This article introduce the pneumatic muscle to vibrationisolation areas as the vibration isolation system of actuators to build a new type of vibrationisolation system. This article obtained more accurate mathematical model of the pneumaticartificial muscle based on the basis of existing research, the ideal output force model and thefurther analysis of various error sources, and get the more accurate mathematical model of thepneumatic artificial muscle. Through the simulation and experimental analysis the static anddynamic characteristics of pneumatic artificial muscle, set up the isolation system based on theparallel pneumatic artificial muscle and the theory of nearly singular, and completed the analysisand experiment of vibration isolation system characteristics and effect.First of all, on the basis of the existing pneumatic artificial muscle research idealmathematical model and the actual condition, such as the pneumatic muscle deformation of end、internal friction and elastic deformation of the rubber to correction the mathematical model ofpneumatic artificial muscle, and gain the more complete mathematical model of pneumaticartificial muscle. Through theoretical analysis and simulation of pneumatic muscle stiffness、output force and other basic characteristics were studied based on the pneumatic artificial musclemathematical model, and fixed the mathematical model of the pneumatic artificial muscle, andgain the relatively ideal static and dynamic stiffness expression of pneumatic artificial muscle, and build the theoretical and experimental analysis of vibration isolation system laid a solid foundationfor the vibration isolation system which use pneumatic artificial muscle as active actuator.Secondly, based on the comprehensive analysis of the parallel mechanism of singularconfiguration, define the closeness measure to singular index, provide a technical indicators forlow stiffness,variable stiffness system analysis and the evaluation of vibration isolation effectunder nearly singular state.Based on the mathematical model of the pneumatic artificial muscleand parallel structure of geometry configuration, established the mathematical model of parallelnearly singular isolation system, did some free vibration experiment and simulation research forthe established mathematical model of parallel vibration isolation system, and through thevibration isolation system free vibration experimental data and simulation data further analysissystem features, at the same time, the experimental and simulation data were analyzed to verify thepneumatic artificial muscle mathematical model and parallel isolation system mathematical modelis correct and accurate.Finally, based on the verified pneumatic artificial muscle mathematical model and theexperiments and simulation research for dynamic model of parallel vibration isolation system; andbuild the vibration isolation experimental platform, did some vibration isolation systemexperiments, through the closeness measure to singular index and system stiffness parameter,testing and optimization the vibration isolation effect of vibration isolation system, finally obtainedthe optimal solution of the parallel low stiffness system vibration isolation effect, thus proving thevalidity of the mathematical model of vibration isolation system and nearly singular vibrationisolation principle of variable stiffness, also laid the foundation research for active variablestiffness of vibration isolation and impact resistant technology.