Thermodynamic treatment of tug-&amp;-twist technology. 2. Thermodynamic twistor design

Paynter, H. M.; Juarez, Joseph

doi:10.1109/aim.1999.803279

Cited by 19 publications

(19 citation statements)

References 2 publications

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“…Paynter [10] described the tugger-force-distribution modeling approach as complex and fails to "suggest alternative and improved geometries." He suggested a new modeling approach based on the First Law of Thermodynamics.…”

Section: Braided Pneumatic Muscle Static Modelmentioning

confidence: 99%

Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle

2009

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Static models of braided pneumatic muscles (BPMs) reported in the research literature fairly accurately predict the muscle-force-carrying capacity. These models, however, rely on experimentally determined parameters that are valid only for the specific muscle configuration under consideration. This paper presents a fully analytical BPM static model that does not depend on experimentally determined parameters. The proposed approach is based on Newtonian mechanics that considers the mechanical and the geometrical properties of the muscle. Distinctively, this paper includes the muscle end-fixture-diameter effect. Results from the developed model are compared with the experimental ones that have been obtained from prototype BPMs.

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Section: Braided Pneumatic Muscle Static Modelmentioning

confidence: 99%

Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle

2009

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“…These actuators use the tensile strength of fibers wrapped around an elastomeric bladder to shape the expansion of a fluid under pressure [1]–[4]. This class of actuators includes devices that bend [5], [6], twist [7], curl [8] and extend [9] under pressure. It also includes devices that contract along their length like biological muscles [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Contraction Sensing With Smart Braid McKibben Muscles

Felt

Chin

Remy

2016

IEEE/ASME Trans. Mechatron.

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The inherent compliance of soft fluidic actuators makes them attractive for use in wearable devices and soft robotics. Their flexible nature permits them to be used without traditional rotational or prismatic joints. Without these joints, however, measuring the motion of the actuators is challenging. Actuator-level sensors could improve the performance of continuum robots and robots with compliant or multi-degree-of-freedom joints. We make the reinforcing braid of a pneumatic artificial muscle (PAM or McKibben muscle) “smart” by weaving it from conductive, insulated wires. These wires form a solenoid-like circuit with an inductance that more than doubles over the PAM contraction. The reinforcing and sensing fibers can be used to measure the contraction of a PAM actuator with a simple, linear function of the measured inductance. Whereas other proposed self-sensing techniques rely on the addition of special elastomers or transducers, the technique presented in this work can be implemented without modifications of this kind. We present and experimentally validate two models for Smart Braid sensors based on the long solenoid approximation and the Neumann formula, respectively. We test a McKibben muscle made from a Smart Braid in quasistatic conditions with various end-loads and in dynamic conditions. We also test the performance of the Smart Braid sensor alongside steel.

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“…Paynter (1996) noted that at a fixed actuator length an increase in input pressure produced an increase in muscle volume; the reason for this was stretch of the actuators walls. He suggested that for actuators of this type, which he referred to as tuggers, it is desirable to use non-stretchable materials in construction.…”

Section: Improved Modeling Of Braided Pma Performancementioning

confidence: 99%

Enhanced Modelling and Performance in Braided Pneumatic Muscle Actuators

et al. 2003

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Pneumatic technology has been successfully applied for over two millennia. Even today, pneumatic cylinder based technology forms the keystone of many manufacturing processes where there is a need for simple, high-speed, low-cost, reliable motion. But when the system requires accurate control of position, velocity or acceleration profiles, these actuators form a far from satisfactory solution. Braided pneumatic muscle actuators (pMAs) form an interesting development of the pneumatic principle offering even higher power/weight performance, operation in a wide range of environments and accurate control of position, motion and force. This technology provides an interesting and potentially very successful alternative actuation source for robots as well as other applications. However, there are difficulties with this approach due to the following.(i) Modeling errors. Models of the force response are still nonoptimal and for good results these models are highly complex, which makes accurate design difficult.(ii) Low bandwidth-the bandwidth of the actuator-link assemblies are often considered to be too low for practical success in many applications, particularly robotics.In this paper we address these limitations and show how the performance in each area can be enhanced with overall improvements in the response and utility of the braided pMAs.

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Thermodynamic treatment of tug-&-twist technology. 2. Thermodynamic twistor design

Cited by 19 publications

References 2 publications

Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle

Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle

Contraction Sensing With Smart Braid McKibben Muscles

Enhanced Modelling and Performance in Braided Pneumatic Muscle Actuators

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