Analysis and Simulation of Dynamic Characteristics of Flexible Pneumatic Actuator FPA

Flexible pneumatic actuator FPA is a new type of actuator, proposed in Zhejiang University of Technology. Compared with typical McKibben muscle actuator, FPA features no friction, cabinet structure. Based on principle of aerothermodynamics, the dynamic model of FPA is established in this paper. The primary factors, which affect the dynamic properties of FPA, are the mass flow of air and the volume of FPA chamber. Simulation results of inflating and deflating process of FPA indicate that the section area of air connector of FPA is proportional to the mass flow of air and affects the dynamic properties greatly. The dynamic response of FPA is rapid, completed within 15 ms. Therefore the dynamic process of FPA can be ignored in applications where high response speed is not required