Dynamic modeling of PAM based actuator using modified Hill's muscle model

Abstract

Dynamic model of PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection and two ON/OFF twin-solenoid valves was designed and simulated in Matlab/Simulink environment. This model is based on modified Hill's muscle model which has two basic elements that represent static and dynamic force in a muscle: a contractile element and a variable damper. The designed model was simulated with purpose to gain knowledge about dynamic behavior of the real PAM based actuator useful in control system design. There are presented in paper some simulation results of the main dynamic characteristics of the actuator.