Journal of Dynamics and VibroacousticsJournal of Dynamics and Vibroacoustics2409-4579Samara National Research University739510.18287/2409-4579-2019-5-2-11-17UnknownMathematical modeling of changes in geometric parameters of pneumatic musclesGalushkoIl`ya<p>Laboratory Assistant, Department of Automatic Systems of Power Plants</p>neeva2804@gmail.comMakaryantsGeorgiy<pre id="tw-target-text" class="tw-data-text tw-text-large tw-ta" dir="ltr" data-placeholder="Перевод"><span lang="en">Professor, Department of Automatic Systems of Power Plants</span></pre>georgy.makaryants@gmail.comSamara University210620195211171909201919092019Copyright © 2019,2019<p><em>Today, this type of drive as pneumatic muscles has wide application. Pneumatic muscle is a one-way drive and has such advantages as the developed force, as well as speed. Pneumatic muscles, compared to pneumatic cylinders, have a non-linear structure that needs to be correctly identified. In this paper, we study the dynamic processes of pressure change in the working cavity of a pneumatic muscle in order to build a mathematical model, which can later be used to develop control systems, where the main actuator is pneumatic muscle, as well as to accurately describe and predict the geometric parameters of pneumatic muscles on pressure of compressed air in the working cavity.</em></p>Pneumatic muscledynamicsexperimental setupidentificationapproximationverificationmathematical modelПневматический мускулдинамикаэкспериментальная установкаидентификацияаппроксимацияверификацияматематическая модель[[1] Galushko, I.D., Gafurov, S.A. and Salmina, V.A., et. al. (2018), “Experimental test bench for investigation of flow control around unmanned underwater robot”, IFAC-PapersOnLine, vol. 51, no. 30, pp. 604-609.][[2] Galushko, I.D., Gafurov, S.A. and Salmina, V.A., etc. (2018), “Approach of Flow Control Around Unmanned Underwater Robot”, IFAC-PapersOnLine, vol. 51, no. 30, pp. 452-457.][[3] Bhaben, K. and Dwivedy, S. K. (2019), “Nonlinear dynamics of a parametrically excited pneumatic artificial muscle (PAM) actuator with simultaneous resonance condition”, Mechanism and Machine Theory, vol. 135, pp. 281-297.][[4] Chan, C.Y., Chong, S.H., Tan, M.H., Tang, T.F. and Sato, K. (2016), “Characterization of pneumatic artificial muscle system in an opposing pair configuration”, Journal of Telecommunication, Electronic and Computer Engineering, vol. 8, pp. 73-77.][[5] Chen, Y.C. and Chiang, C.J. (2017), “Neural network fuzzy sliding mode control of pneumatic muscle actuators”, Engineering Applications of Artificial Intelligence, vol. 65, pp. 68-86.][[6] Biro, I., Cveticanin, L., Nemeth, J. and Sarosi, J. (2015), “Dynamic modeling of a pneumatic muscle actuator with two-direction motion”, Mechanism and Machine Theory, vol. 85, pp. 25-34.][[7] Doumit, M.D. and Pardoel, S. (2017), “Dynamic contraction behaviour of pneumatic artificial muscle”, Mechanical Systems and Signal Processing, vol. 91, pp. 93-110.][[8] Wang, S. and Sato, K. (2016), “High-precision motion control of a stage with pneumatic artificial muscles”, Precision Engineering, vol. 43, pp. 448-461.][[9] Guerra Tsuzuki M.D.S., Horikawa O. and Scaff W. (2018), “Pneumatic Artificial Muscle Optimal Control with Simulated Annealing”, IFAC-PapersOnLine, vol. 51, no. 30, pp. 333-338.][[10] Leephakpreeda T. and Wickramatunge K.C. (2013), “Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators, ISA Transactions, vol. 52, no. 6, pp. 825-834.]