Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism

Abstract

The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM) actuator, based on the antagonistic mechanism of extensor and contractor muscles, a novel pneumatic soft actuator coupled of extensor and contractor muscles is proposed in this paper. The actuator can perform the compound action of elongation/contraction, and the stiffness of it can be controlled by adjusting the elongation and contraction forces. Secondly, based on the deformation principle of woven and elastic fabric layers, the mechanical characteristics model of the actuator is established and simulated. The mechanical properties of the actuator are tested under different pressures and deformation displacement and the variable stiffness characteristics of the actuator are verified. Finally, actuators are utilized to manufacture a soft mechanical manipulator, which can achieve variable stiffness in a fixed bending attitude.

Design, Modelling, and Control of Continuum Arms with Pneumatic Artificial Muscles: A Review

“…This innovative delta robot is well-suited to pick-and-place operations within a hemispherical working space. Moreover, researchers have made notable strides in spatial intrinsic continuum robots driven by pneumatic artificial muscles (PAMs), offering variable stiffness and flexible motions [53][54][55]. A lightweight and compliant multi-joint continuum manipulator, actuated by thin McKibben pneumatic artificial muscles, has also been developed [56].…”

Movement Monitoring System for a Pneumatic Muscle Actuator

“…Therefore, in the study [21], the design of a soft actuator is based on a starfish. The starfish is composed of elements such as connective tissue, calcite bone, and interosseous muscle, which allows it to regulate the structural stiffness of its body actively [22].…”