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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.

An analytical model based on classical laminate plate theory (CLPT) was developed to predict the longitudinal elastic modulus of a 2-D braided fiber composite. A sinusoidal function was used to model the path of undulating strands. This work represents a generalization of the plain weave case as the angle between the strands is not restricted to 90°. The results predicted by the model are in good agreement with other models and are in excellent agreement with experimental results for braided Kevlar 49/epoxy resin tubes. The predicted and experimental results confirmed that the longitudinal elastic modulus of a braided tube is less than that of one composed of laminated layers.

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Cardiovascular catheterization is a common medical procedure. A single braided catheter with different rigidities at the proximal and distal ends can, if properly designed, provide the necessary control and flexibility and thus replace the current two-piece (external catheter/internal guidewire) system. An analytical model based on classical laminate plate theory was developed in order to predict the elastic properties of angle-plied, single-overlap two-dimensional fiber composite tubular braids, which are required for the determination of the axial, flexural, and torsional rigidities. In this work the analytical model has been used to design one-piece cardiovascular catheters with axial, flexural, and torsional rigidities similar to those values for existing two-piece catheters, thus validating the model as a tool for designing braided cardiovascular catheters.