Optimization of joint driven by pneumatic muscle actuator based on PSO algorithm

The optimal joint radius and point of attachment of pneumatic muscle actuator (PMA) were proposed, which make the output torque of the PMA driven joint system reach maximum. Through analyzing the static characteristics of PMA, a static character model of the joint was deduced. With the aid of simulations under different state parameters of PMA, the relationship between the joint radius and points of attachment of PMA as well as the output torque were acquired. Simultaneously, the algorithm of particle swarm optimization was adopted to calculate the optimal value of the joint radius and points of attachment of PMA. The proposed analytical method and its results play an effective role in guiding the structural design of a biotic arm driven by PMA.