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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: The traditional pneumatic muscle actuator has the problems of single structure and low function. Therefore, based on the inspiration of snake's meandering movement, a double bending pneumatic muscle actuator (DB-PMA) with the ability to bend in two opposite directions was proposed. Firstly, the mechanical structure of DBPMA was described, including the bionic design basis of DBPMA and the basic mechanical structure of DB-PMA,with the traditional contraction pneumatic muscle actuator (CPMA) as the breakthrough point. Then, the related kinematics analysis of DB-PMA was carried out in three different states: relaxation, pressurization and special. Experiments were carried out based on DB-PMA, and the experimental results were analyzed and compared with traditional CPMA in terms of performance. Finally, based on the actuator, a software manipulator was designed, and its performance was demonstrated, and it was optimized and improved by two methods, and the improved manipulator was analyzed. The research results show that the maximum bending angle of the manipulator can be increased to 213° by the first improvement method, and the second improvement method can obviously make the manipulator be controlled more accurately, afterwards the performance of both improvement methods can be significantly optimized and improved compared with the original manipulator.
Key words: pneumatic transmission; double bending pneumatic muscle actuator(DB-PMA); contraction pneumatic muscle actuator(CPMA); kinematics analysis; soft robot arm; two finger soft gripper; neural network controller
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- Chinese Core Periodicals
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- Chinese Sci-tech Core Periodicals
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- SA, INSPEC Indexed
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- CSA: T Indexed
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- UPD:Indexed
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2010 Zhejiang Information Institute of Mechinery Industry
Technical Support：Hangzhou Bory science and technology
