Experimental research of the influence of constraint for pneumatic artificial muscle characteristic

Pneumatic artificial muscle (PAM) is a new pneumatic actuator. A lot of work have been completed about the principle, theoretical, experimental modeling and applications of pneumatic artificial muscle. Researchers have found that PAMs exhibit non-linear characteristic. Base on the published literatures, non-linear characteristic related to elasticity, friction between rubber and braid and the constraint ring. The former two aspects have been mainly studied in the published papers. However, study on the influence of constrains on the end of pneumatic artificial muscle is still rare. This study establishes the PAM static characteristic experimental system, and the PAM characteristics about multiple constraints are tested. Through the analysis of experimental results, the influence is obtained which constraints the work for pneumatic artificial muscle working characteristics.