Abstract
Currently, there has already been dynamic characteristic model of the straight-fiber-type artificial muscle using air pressure. However, this model doesn't take into account the effect of air tube. Air transmission delay with longer air tube, and so response of artificial muscle changes drastically. Thus, it is impossible to apply this model. Therefore, in this paper, we built a dynamic characteristic model of the straight-fiber-type artificial muscle that is considered the effects of pneumatic tube for long distance. Then, setting artificial muscle of the earthworm type robot for 15A piping inspection that we have studied as a target, we compared the constructed model with the experimental values. As a result, we confirmed that this model can predict the response of the drive unit to some extent.
