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以气动人工肌肉为驱动器 ,构造了一个新型的多自由度平台实验系统 ,基于对其运动特性的分析 ,建立了以微分方程表达的系统的非线性动力学模型 ,并进一步将其变换成状态空间的仿射非线性表达形式 .通过数字仿真结果和实验结果的对比 ,证明了所建立的数学模型的正确性 ,并得到了该系统的一系列非线性特性 .结果表明 ,气动人工肌肉驱动的多自由度平台具有很好的可控性及稳定性 .
A new multi-degree-of-freedom platform experimental system is constructed with pneumatic artificial muscle as a driving force. Based on the analysis of its kinematic characteristics, a nonlinear dynamic model of the system expressed by differential equations is established and transformed into a state space The affine non-linear expression is obtained.According to the comparison between the numerical simulation and experimental results, the correctness of the established mathematical model is proved and a series of nonlinear characteristics of the system are obtained.The results show that more The degree of freedom platform has good controllability and stability.