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Aiming at the problem of insufficient transverse stiffness of flexible manipulator, a kind of pneumatic flexible manipulator with single degree of freedom is developed by using elongated pneumatic artificial muscle joint as the actuator. The structure and functional principle of the manipulator are introduced. The dynamic experiment of the manipulator was carried out by using the three-dimensional motion measurement system, and the dynamic characteristics of the manipulator under three different incentive signals (step, pulse and ramp ) were analyzed, which provided a basis for the establishment of the manipulator control model in the later stage.

Experimental study on dynamic performance of pneumatic flexible manipulator with single degree of freedom