Mathematical Modelling of Balanced Manually Operated Pneumatic Artificial Muscle Manipulator in Matlab/Simulink environment

This work is dedicated to the calculation of industrial balanced pneumatic artificial muscle (PAM) manipulator. The new pneumatic and kinematic scheme of muscle-based manipulator is described. The mathematical model elaborated earlier consists of new refined equation for static characteristics and equations describe dynamic characteristics of PAM. This mathematical model is to modelling manipulator and was realized in Matlab/Simulink environment. Presented user interface and subsystems of manipulator parts (valve, PAM and load) could help automize the calculations of PAM manipulator of similar constructions.