Optimization design of parameters in pneumatic muscles actuated joint

In the design of pneumatic muscles actuated joint,trial-and-error method is normally adopted to select parameters,which cannot acquire the optimal performance.To solve this problem,graph method to determine the optimum parameters was proposed.By utilizing the constant pressure characteristics of pneumatic muscle,the optimum initial length of the pneumatic muscle can be obtained.In the design of joint diameter,to guarantee achieving maximal joint angle,optimizing analysis on joint diameter was carried out.The proposed method is simple and applicable.