Aplikace pneumatických svalů pro pneumatický delta manipulátor

摘要

The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg) manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System) muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System) type system drives and tuning controller settings using the Ziegler-Nichols method.