Serres J L, Reynolds D B, Phillips C A, Gerschutz M J, Repperger D W
Department of Biomedical, Industrial and Human Factors Engineering, Wright State University, Dayton, OH, USA.
Comput Methods Biomech Biomed Engin. 2009 Aug;12(4):423-30. doi: 10.1080/10255840802654327.
This study focuses on the parameter characterisation of a three-element phenomenological model for commercially available pneumatic muscle actuators (PMAs). This model consists of a spring, damping and contractile element arranged in parallel. Data collected from static loading, contraction and relaxation experiments were fitted to theoretical solutions of the governing equation for the three-element model resulting in prediction profiles for the spring, damping and contractile force coefficient. For the spring coefficient, K N/mm, the following relationships were found: K = 32.7 - 0.0321P for 150 < or = P < or = 314 kPa and K = 17 + 0.0179P for 314 < or = P < or = 550 kPa. For the damping coefficient, B Ns/mm, the following relationship was found during contraction: B = 2.90 for 150 < or = P < or = 550 kPa. During relaxation, B = 1.57 for 150 < or = P < or = 372 kPa and B = 0.311 + 0.00338P for 372 < or = P < or = 550. The following relationship for the contractile force coefficient, F(ce) N, was also determined: F(ce) = 2.91P+44.6 for 150 < or = P < or = 550 kPa. The model was then validated by reasonably predicting the response of the PMA to a triangular wave input in pressure under a constant load on a dynamic test station.
本研究聚焦于商用气动肌肉致动器（PMA）的三元件现象学模型的参数表征。该模型由一个弹簧、阻尼和收缩元件并联组成。从静态加载、收缩和松弛实验中收集的数据与三元件模型控制方程的理论解进行拟合，得出弹簧、阻尼和收缩力系数的预测曲线。对于弹簧系数K（单位：N/mm），发现以下关系：当150≤P≤314 kPa时，K = 32.7 - 0.0321P；当314≤P≤550 kPa时，K = 17 + 0.0179P。对于阻尼系数B（单位：Ns/mm），在收缩过程中发现以下关系：当150≤P≤550 kPa时，B = 2.90。在松弛过程中，当150≤P≤372 kPa时，B = 1.57；当372≤P≤550时，B = 0.311 + 0.00338P。还确定了收缩力系数F(ce)（单位：N）的以下关系：当150≤P≤550 kPa时，F(ce) = 2.91P + 44.6。然后，通过在动态测试台上对恒定负载下PMA对压力三角波输入的响应进行合理预测，对该模型进行了验证。
