Modeling and experiments on the drive characteristics of high-strength water hydraulic artificial muscles

Zhang, Zengmeng; Hou, Jian; Ning, Dayong; Xiao-feng, Gong; Gong, Yongjun

doi:10.1088/1361-665x/aa6a7a

Cited by 16 publications

(14 citation statements)

References 32 publications

(28 reference statements)

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“…The structure and assembly of WHAM refer to Zhang et al's work [14]. A WHAM consists of a hollow end fitting, a closed-end fitting, crimping rings, a rubber tube, and a fiber sleeve, as shown in Figure 1.…”

Section: A Structure and Working Principle Of Whammentioning

confidence: 99%

“…The model assumes that the system is lossless and without energy storage, the extensibility of the shell thread is very low, and the ideal cylinder wall thickness is zero. However, in the manufacturing and practical application of muscle, the bladder has a specific thickness, and the fiber is elastic [14], [15], [21]. Kothera et al [18] and Thomalla et al [20] developed a new model for the variation of bladder's thickness during the working process, and the overall average error between the new model and the experimental results was 9.1%.…”

Section: B the Theoretical Analysis Of Influence Of Manufacturing Pamentioning

confidence: 99%

“…PAM's working pressure and output forces are generally 0.2-0.8MPa and 100N-500N, respectively [10]- [13]. Compared with PAM, WHAM's working pressure is as high as 6MPa [14], the contraction force is as large as 28 kN [15]. Moreover, the air compressor's noise and vibration can be eliminated using a tap water drive [16].…”

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The Effects of Manufacturing Parameters on Static Characteristics of Water Hydraulic Artificial Muscles

et al. 2020

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The static characteristics of water hydraulic artificial muscles (WHAMs) are related to operating parameters and manufacturing parameters. Operating parameters include working pressure and contraction ratio. Manufacturing parameters include initial braiding angle, fiber sleeve material, and initial rubber tube thickness. These manufacturing parameters fundamentally influence the static characteristics of artificial muscle. Orthogonal experiments were designed with an initial braiding angle of 25 degrees and 32 degrees, fiber sleeve of UHMWPE and aramid 1414, and initial rubber tube thickness of 2mm and 3mm to study the significance level of the effects of these factors and their interactions on the static characteristics of WHAMs. Experiments were carried out at different contractions to study the relationship between contraction force and working pressure, and Analysis of Variance (ANOVA) analyzed the test data. The analysis results showed that the significance level of the initial braid angle on WHAM's static characteristics is the most significant; the significance level of fiber sleeve material and initial rubber tube thickness on the static characteristics of WHAMs depends on the working pressure and contractions. The analysis results help people fabricate different WHAM types according to the working conditions, which help people better control the contraction forces. INDEX TERMS Fiber sleeve material, initial braiding angle, rubber tube thickness, water hydraulic artificial muscles. I.INTRODUCTION

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Section: A Structure and Working Principle Of Whammentioning

confidence: 99%

Section: B the Theoretical Analysis Of Influence Of Manufacturing Pamentioning

confidence: 99%

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The Effects of Manufacturing Parameters on Static Characteristics of Water Hydraulic Artificial Muscles

et al. 2020

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“…7,8 Iwata et al 9 developed a high-powered artificial muscle with a diameter of 21 mm that can generate contraction force of 8 kN. Zhang et al 10 have designed a highstrength WHAM. And the maximum contraction force is approximately 12 kN when the operating pressure is 6 MPa.…”

Section: Introductionmentioning

confidence: 99%

A modified physical model of high-strength water hydraulic artificial muscles considering the effects of geometry and material properties

Zhang

Che

Liu

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Compared with pneumatic artificial muscles (PAMs), water hydraulic artificial muscles (WHAMs) have the advantages of high force/weight ratio, high stiffness, rapid response speed, large operating pressure range, low working noise, etc. Although the physical models of PAMs have been widely studied, the model of WHAMs still need to be researched for the different structure parameters and work conditions between PAMs and WHAMs. Therefore, the geometry and the material properties need to be considered in models, including the wall thickness of rubber tube, the geometry of ends, the elastic force of rubber tube, the elongation of fibers, and the friction among fiber strands. WHAMs with different wall thickness and fiber materials were manufactured, and static characteristic experiments were performed when the actuator is static and fixed on both ends, which reflects the relationship between contraction force and pressure under the different contraction ratio. The deviations between theoretical values and experimental results were analyzed to investigate the effect of each physical factor on the modified physical model accuracy at different operating pressures. The results show the relative error of the modified physical model was 7.1% and the relative error of the ideal model was 17.4%. When contraction ratio is below 10% and operating pressure is 4 MPa, the wall thickness of rubber tube was the strongest factor on the accuracy of modified model. When the WHAM contraction ratio from 3% to 20%, the relative error between the modified physical model and the experimental data was within ±10%. Considering the various physical factors, the accuracy of the modified physical model of WHAM is improved, which lays a foundation of non-linear control of the high-strength, tightly fiber-braided and thick-walled WHAMs.

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“…For example, to carry more than 20 kN of tension, the diameter of the wire rope must be at least 6 mm. The water hydraulic artificial muscle developed by Zhang et al 4 and Ning et al 5 can output a force of more than 20 kN, but uses a rope with a diameter of 8 mm on the joint. Experimental results have revealed that the actual joint rotation angle will be smaller than the theoretical value owing to the excessive rigidity of wire rope.…”

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Modeling of fibrous tow transmission considering residual strain and friction

Che

Zhang

Hou

et al. 2021

Textile Research Journal

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This study established a mechanical model based on the mechanical properties of fibrous tows and their force of interaction with spools. The proposed model not only describes the hysteresis, nonlinear elastic, and viscoelastic stress components, but also analyzes the effect of residual strain on aramid fiber mechanical properties. Moreover, the effect of the interaction force between the fiber and spool on the transmission accuracy should be considered. Contrary to the conventional view, hysteresis is caused not only by internal sliding among molecules and molecular chains but also by friction between the fibers and spools. To assess this effect, several monotonous and cyclic tensile tests were conducted, with the results showing that the maximum relative error of the mechanical model did not exceed 5%. The proposed mechanical model can help designers determine effective carrying ranges and predict the fiber mechanical behavior, thereby laying a foundation for achieving nonlinear control of the fibrous tow transferring load.

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Modeling and experiments on the drive characteristics of high-strength water hydraulic artificial muscles

Cited by 16 publications

References 32 publications

The Effects of Manufacturing Parameters on Static Characteristics of Water Hydraulic Artificial Muscles

The Effects of Manufacturing Parameters on Static Characteristics of Water Hydraulic Artificial Muscles

A modified physical model of high-strength water hydraulic artificial muscles considering the effects of geometry and material properties

Modeling of fibrous tow transmission considering residual strain and friction

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