Yeming Zhang, Shuangyang He, Gonghua Jin
Pneumatic artificial muscle is widely concerned by researchers because of its simple structure, convenient installation, no crawling phenomenon, high power/dead weight ratio, good flexibility, similar to biological muscle movement and other characteristics. In this paper, two pneumatic artificial muscles are used to drive the bionic joint control system in the form of antagonistic structure. Based on the principle of antagonistic joint movement of human body, two pneumatic artificial muscles were used to control and drive joint rotation with antagonistic structure. The dynamic equations of air inlet and exhaust, the mass flow equation of inflow and outflow proportional pressure valve and the dynamic equation of driving joint were used as the nonlinear dynamic mathematical models for the control system of elbow joint rehabilitation driven by antagonistic pneumatic artificial muscle. Finally, Simulink simulation and experimental verification are carried out to prove the correctness of the established model.
Antagonistic type; Pneumatic artificial muscle; Nonlinear dynamic mathematical model; MATLAB simulation