Dynamics Modeling and Simulation of Mass Terms for Pneumatic Muscle Actuators

China Mechanical Engineering ›› 2011, Vol. 22 ›› Issue (14): 1719-1722.

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Dynamics Modeling and Simulation of Mass Terms for Pneumatic Muscle Actuators

Yao Bitao;Zhou Zude;Ai Qingsong;Xu Shengnan

Wuhan University of Technology,Wuhan,430070

Online:2011-07-25 Published:2011-07-28
Supported by:

National Natural Science Foundation of China（No. 50905133）;

Major International Cooperation and Communication Program of Hubei Provincial Natural Science Foundation of China（No. 2009BFA006）;
Hubei Provincial Natural Science Foundation of China（No. 2009CDB255)

气动肌肉质量项动力学建模及仿真

姚碧涛;周祖德;艾青松;徐胜男

武汉理工大学,武汉,430070

基金资助:
国家自然科学基金资助项目(50905133)；湖北省自然科学基金重大国际合作交流项目(2009BFA006)；湖北省自然科学基金资助项目(2009CDB255)；武汉理工大学自主创新研究基金资助项目(2010-ZY-JD-002)
National Natural Science Foundation of China（No. 50905133）;

Major International Cooperation and Communication Program of Hubei Provincial Natural Science Foundation of China（No. 2009BFA006）;
Hubei Provincial Natural Science Foundation of China（No. 2009CDB255)

Abstract

Abstract:

This paper aimed to achieve the dynamics model of mass terms for PMAs. In the modeling, PMAs were considered as a system of particles which were distributed uniformly along a cylinder.A dynamics model of PMAs was built by using the Lagrangian formulation. In the simulation, PMA were meshed in ANSYS and a modal neutral file was generated.The dynamics simulation was conducted in ADAMS by using the modal neutral file. Simulation results verify the feasibility of the model.

Key words: pneumatic muscle actuator(PMA), mass term, dynamics, modeling, simulation

摘要：

单独考虑气动肌肉的质量项并在动力学推导中将其看成沿圆柱体均匀分布的质点系，利用拉格朗日方程建立了气动肌肉质量项动力学模型。利用ANSYS对气动肌肉柔性体进行了网格划分,并将生成的模态中性文件导入ADAMS进行了动力学仿真，仿真结果验证了动力学模型的正确性。

关键词:

气动肌肉, 质量项, 动力学, 建模, 仿真

CLC Number:

TP242

TAO Bi-Chao, ZHOU Jie-De, AI Jing-Song, XU Qing-Nan.

Dynamics Modeling and Simulation of Mass Terms for Pneumatic Muscle Actuators

[J]. China Mechanical Engineering, 2011, 22(14): 1719-1722.

姚碧涛, 周祖德, 艾青松, 徐胜男.

气动肌肉质量项动力学建模及仿真

[J]. 中国机械工程, 2011, 22(14): 1719-1722.

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Dynamics Modeling and Simulation of Mass Terms for Pneumatic Muscle Actuators

气动肌肉质量项动力学建模及仿真

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