Mechanism Design and Realization of Joint of Pneumatic Muscle of Manipulator

The joints of manipulator were designed which take pneumatic muscle as a driver,manipulator joints were disposed through kinematics analysis of mechanism.The endmost mechanism of manipulator was analyzed.According to kinematics analysis of parallel mechanism,mathematical relations between internal pressure of pneumatic artificial muscle and rotational angle of platform of parallel mechanism were obtained.Based on the result of physical testing,kinematics of manipulator of the joint was analyzed.