Pneumatic muscles have significant advantages over typical pneumatic cylinders, such as smooth speed adjustment, higher power-to-weight ratio and longer operating life. Applying а pneumatic artificial muscle is а way to considerably simplify manipulator mechanisms due to its physical properties. This paper deals with the development of positioning control principles of pneumatic artificial muscle drive and presents numerical and experimental investigations of different operation modes such as lifting and lowering а load under normal working conditions, operation in а case of а sudden load separation and position control by manual operator force. In this work, the mathematical model elaborated earlier was numerically and experimentally investigated. Experimental validation of static and dynamic characteristics confirmed the results of the theoretical studies, so the elaborated model can be used to design a PAM-based manipulator with required characteristics.

No abstract

No abstract

Physical processes of radiation impact on structural materials are analyzed. Mechanisms and dependences of interaction of accelerated particles with solids and processes of erosion of structural materials are considered.

Pneumatic muscle is a new type of actuator that has a number of advantages over pneumatic cylinders, such as higher power-to-weight ratio, smooth speed adjustment, and longer operating life. Pneumatic muscle-based industrial devices can be used in combustible, explosive, and contaminated environments in different industry fields. This article is dedicated to the modeling of pneumatic muscles manufactured by FESTO, a global leader in the production of this type of pneumatic actuators. The existing pneumatic muscle models have several significant drawbacks: they can only be applied to specific types of pneumatic muscles and are inappropriate for FESTO pneumatic muscles, their accuracy is low, and they contain too many adjusting factors. The model presented in this article makes it possible to obtain static characteristics with up to 10% accuracy. The aim of this study is to assess the feasibility of application of the developed expression for modeling the dynamic characteristics of pneumatic muscle and to develop a comprehensive mathematical model of pneumatic muscle for describing the processes of raising and lowering a load.