Modeling of a 6-DOF parallel manipulator driven by pneumatic muscles

Since pneumatic muscle has many district advantages compared with electric motor and hydraulic actuator, a 6-DOF parallel manipulator actuated by pneumatic muscles is proposed in this paper. Furthermore, a detailed system model that includes the kinematics and dynamics of parallel manipulator, the pressure dynamics and output force equation of pneumatic muscle, and an equation for the mass flow through the control valve's orifice is developed. The effectiveness of the proposed model is verified by the comparison between simulation and experimental results. Thus, the proposed model can be used in our future work to develop high performance controller.

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