Dynamic Analysis and Cascade Movement Simulation of a Pneumatic Muscle Actuator

George Andrikopoulos, John Arvanitakis, Stamatis Manesis, and George Nikolakopoulos


Pneumatic muscle actuator, modeling


The aim of this article is to present a dynamic analysis and a cascade movement simulation of a Pneumatic Muscle Actuator (PMA). PMAs are highly non--linear pneumatic actuators where their elongation is proportional to the interval pressure. Their non--linear characteristics and the property of the hysteresis are posing several difficulties in simulating these pneumatic actuators and to obtain a comprehension of the PMA's physical movement. In this article a novel detailed modeling, based on hardware in the loop simulation studies, capable to describe the dynamic characteristic of the PMA and a detailed simulation environment for studying the cascade movement of PMAs will be presented.

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