Mechanism and bias considerations for design of a bi-directional pneumatic artificial muscle actuator

Vocke, Robert D.; Kothera, Curt S.; Wereley, Norman M.

doi:10.1088/0964-1726/23/12/125039

Cited by 4 publications

(3 citation statements)

References 26 publications

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“…In cases of higher positioning requirements and motion in two opposite directions needs, two PAMs in an antagonistic connection are highly preferred, just like in real muscles in the living bodies [61,[70][71][72][73]. Šitum and Trslić [73] discussed a nonlinear mathematical model for a PAM pair in an antagonistic arrangement based on an original and unique ball-on-beam system.…”

Section: Empirical Modelmentioning

confidence: 99%

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

2022

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Pneumatic artificial muscles (PAMs) are soft and flexible linear pneumatic actuators which produce human muscle like actuation. Due to these properties, the muscle actuators have an adaptable compliance for various robotic platforms as well as medical applications. While a variety of possible actuation schemes are present, there is still a need for the development of a soft actuator that is very light-weight, compact, and flexible with high power-to-weight ratio. To achieve this, the development of the PAM actuators has become an interesting topic for many researchers. In this review, the development of the different kinds of PAM available to date are presented along with manufacturing process and the operating principle. The various force models for artificial muscle presented in the literature are broadly reviewed with the constraints. Furthermore, the applications of PAM are included and classified based on the fields of biorobotics, medicine, and industry, along with advanced medical instrumentation. Finally, the needful improvements in terms of the dynamics of the muscle are discussed for the precise control of the PAMs as per the requirements for the applications. This review will be helpful for researchers working in the field of robotics and for designers to develop new type of artificial muscle depending on the applications.

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Section: Empirical Modelmentioning

confidence: 99%

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

2022

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“…As shown in the example given in figure 6(d), unloading of the pressurised HAM results in a considerable reduction in pressure. Previous work has highlighted the importance of controlling the pressure in both pneumatic and hydraulic McKibben type artificial muscles [23][24][25][26]. To investigate the importance of this effect one the loading and unloading characteristics of a HAM, a series of isobaric tests were initiated where the pressure during HAM loading and unloading was kept constant.…”

Section: Isotonic Isometric and Spring Series Actuationmentioning

confidence: 99%

A comprehensive test method for measuring actuation performance of McKibben artificial muscles

Salahuddin

Spinks

2021

Smart Mater. Struct.

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The versatile nature of artificial muscles and their applications is derived from their ability to actuate in tensile, torsional and bending modes that can mimic the action of hydraulic rams, electric motors and biomimetic curling arms, respectively. Artificial muscles have exhibited great potential for fabricating robotic components and surgical tools due to their resemblance to biological muscles; along with their high actuation force per mass. For further investigation of these artificial muscles as tensile actuators with practical applications, it is imperative to standardise methods for characterising their performance. This article applies an integrated characterization method: simultaneously measuring the free stroke of a McKibben-type hydraulic artificial muscle; the stroke while operating against an externally applied force (isotonic); the blocked force of these muscles while keeping the muscle at constant length (isometric); and the force and displacement change when the muscle operates against a return spring (variable force, pressure). This linear mechanics approach has been verified and allows the prediction of these fundamental actuation characteristics while illustrating the effects of changing external load on the muscle performance. This study proposes an important approach to assist the design of McKibben muscles when used to carry variable loads such as in exoskeletons, prosthetics, and robotics applications.

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“…1 PAMs have been found to be extremely useful for producing high strength forces in low mass actuators at relatively low pressures, allowing for maximization of specific power, specific work, and power density. [2][3][4][5][6][7] Typically, the forced produced by the axial contraction of PAMs is utilized to create actuation of systems, 4,[8][9][10] but force is also generated by the PAM through the radial expansion that occurs while the PAM axially contracts. Much like with the contractile force, a constraint limiting the PAM's ability to expand radially must be present for a reaction force to be generated, such as the inner walls of a pipe.…”

Section: Introductionmentioning

confidence: 99%

Analysis of an anchoring muscle for pipe crawling robot

Cianciarulo

Garbulinski

Chambers

et al. 2023

Bioinspiration, Biomimetics, and Bioreplication XIII

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Pneumatic artificial muscles (PAMs) consist of an elastomeric bladder wrapped in a Kevlar braid. When inflated, PAMs expand radially and contract axially, producing large axial forces. PAMs are often utilized for their high specific work and specific power, as well as their ability to produce large axial displacements. Although the axial behavior of PAMs is well understood, the radial behavior has remained under-utilized and is poorly understood. Radial expansion in large diameter (over 2 inches) PAMs has recently been used in worm-like robots to create anchoring forces that allow for a peristaltic wave which creates locomotion through acrylic pipes. By radially expanding, the PAM presses itself into the pipe, creating an anchor point. The previously anchored PAM then deflates, which propels the robot forward. Modeling of the radial expansion forces and anchoring was desired to determine the pressurization required for proper anchoring before slipping occurs due to the combined robot and payload weight. Modeling was performed using a force balance approach to capture the effects that bladder strain and applied axial load has on the anchoring force. Radial expansion testing was performed to validate the model. Force due to anchoring was recorded using force transducers attached to sections of acrylic pipe using an MTS servo-hydraulic testing machine. Data from the test was compared to the predicted anchoring force.

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Mechanism and bias considerations for design of a bi-directional pneumatic artificial muscle actuator

Cited by 4 publications

References 26 publications

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

A comprehensive test method for measuring actuation performance of McKibben artificial muscles

Analysis of an anchoring muscle for pipe crawling robot

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