Analysis of Step Responses in Nonlinear Dynamic Systems Consisting of Antagonistic Involvement of Pneumatic Artificial Muscles

Figure 3

Schematic representation of the experimental involvement. : left pneumatic artificial muscle, : right pneumatic artificial muscle, LM: distance of a gravity center of an onerous element M from the pivoting arm shaft, : right pressure sensor, : pressure, : potentiometric position sensor, α: rotation angle of the arm from the neutral position, : left pressure sensor, : right pressure sensor, : electric current, : electrical resistance, : pressure at the compressor outlet, : left/right inflation electropneumatic valve, : left/right draining electropneumatic valve, : pressure in the air tank pressure, and A/B/C: acceleration sensors. Orange colour: signals from measuring devices, red colour: signals from vibration sensors, green colour: control signals to control electropneumatic valves, and blue colour: transport routes for pressure medium.