Mathematic Model and Experimental Study of Humanoid Pneumatic Muscle

The mathematic model of humanoid pneumatic muscle was established by theoretical and experimental methods. A mathematic model of humanoid pneumatic muscle was built. The influences of the four factors, including rubber tube elasticity, thickness of tube wall, arc at the end, and the fiction between braided grid and that between braided grid and rubber tube, on the mechanical properties of the pneumatic muscle were considered in the improved model. The experiments on the pneumatic muscle mechanical properties were done in three cases: constant pressure, constant pull force of load and unvaried length. The results of the experiments were basically consistent with those of improved model simulation.