Parametrically Excited Nonlinear Pneumatic Artificial Muscle Under Hard Excitation: A Theoretical and Experimental Investigation

Bhaben Kalita, S. K. Dwivedy
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Abstract

In this work, a single degree of freedom system consisting of a mass and a Pneumatic Artificial Muscle subjected to time-varying pressure inside the muscle is considered. The system is subjected to hard excitation and the governing equation of motion is found to be that of a nonlinear forced and parametrically excited system under super- and sub-harmonic resonance conditions. The solution of the nonlinear governing equation of motion is obtained using the method of multiple scales. The time and frequency response, phase portraits, and basin of attraction are plotted to study the system response along with the stability and bifurcations. Further, the different muscle parameters are evaluated by performing experiments which are further used for numerically evaluating the system response using the theoretically obtained closed form equations. The responses obtained from the experiments are found to be in good agreement with those obtained from the method of multiple scales. With the help of examples, the procedure to obtain the safe operating range of different system parameters is illustrated.
硬激励下参数激励非线性气动人工肌肉的理论与实验研究
在这项工作中,考虑了一个由质量和肌肉内受时变压力的气动人工肌肉组成的单自由度系统。研究了系统在强激励下的运动控制方程,得到了系统在超谐波和次谐波条件下的非线性强迫和参数激励系统的运动控制方程。采用多尺度法求解了非线性运动控制方程。绘制了系统的时频响应、相位图和引力盆地,研究了系统的响应、稳定性和分岔。此外,通过进行实验来评估不同的肌肉参数,这些实验进一步用于使用理论上获得的封闭形式方程对系统响应进行数值评估。实验结果与多尺度法得到的结果吻合较好。结合实例,阐述了不同系统参数下安全工作范围的计算方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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