A mechanical model for McKibben pneumatic artificial muscles based on limiting chain extensibility and 3D application of the network alteration theories

Soleymani, Reza; Khajehsaeid, H.

doi:10.1016/j.ijsolstr.2020.06.036

Cited by 16 publications

(7 citation statements)

References 37 publications

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“…[54][55][56][57] Fluid-driven elastomers include silicone elastomers, like polydimethylsiloxane, with hydraulic or pneumatic channels patterned into them, or inflatable rubber membranes with a braided sleeve to confine the actuation. [58][59][60] Not only are these actuators able to perform contraction and expansion by controlling fluidic mediums in confined spaces designed with inflatable materials, but they also offer diverse locomotion options varying the stiffness of flexible materials or creating multiple actuators in series. [61,62] Fluidic actuators gained popularity in the early stages of soft robotic applications due to their high energy efficiency, significant deformation capability, and safe operation.…”

Section: Fluid-driven Elastomersmentioning

confidence: 99%

Multimodal Soft Robotic Actuation and Locomotion

Yao,

Kim,

Yin

et al. 2024

Advanced Materials

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Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free‐moving, entirely soft‐bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. We further highlight how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape‐morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real‐world applications for intricate and challenging tasks.This article is protected by copyright. All rights reserved

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Section: Fluid-driven Elastomersmentioning

confidence: 99%

Multimodal Soft Robotic Actuation and Locomotion

Yao,

Kim,

Yin

et al. 2024

Advanced Materials

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“…Because the gripper can be attached to a manipulator arm, it can be programmed to perform complex orienting movements depending on the position of the fruit both for the intended harvest and for directing it to the collection system. The choice of the actuators that have similar operating principle as McKibben artificial muscles, such as the Festo fluidic muscles, is sustained by the McKibben artificial muscles popularity and interest of researchers [16,17]. Of course, McKibben can be used for prototyping and laboratory solutions, whereas Festo offers industrial pneumatic artificial muscles solutions.…”

Section: Proposed Harvesting Grippermentioning

confidence: 99%

Maintenance Cost Minimization for an Agricultural Harvesting Gripper

Șerdean

Mândru

2023

Sensors

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A crucial aspect that has to be considered in all fields and, especially, in smart farming, a rapidly developing industry, is maintenance. Due to the costs generated by both under-maintaining and over-maintaining the components of a system, a balance has to be achieved. The paper is focused on presenting an optimal maintenance policy used to ensure cost minimization by determining the optimal time to make a preventive replacement of the actuators of a harvesting robotic system. First, a brief presentation of the gripper with Festo fluidic muscles used in a novel way instead of fingers is given. Then, the nature-inspired optimization algorithm, as well as the maintenance policy are described. The paper also includes the steps and the obtained results of the developed optimal maintenance policy applied for the Festo fluidic muscles. The outcome of the optimization shows that a significant reduction in the costs is obtained if one performs a preventive replacement of the actuators a few days before the lifetime provided by the manufacturer and the lifetime estimated using a Weibull distribution.

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“…The elastic energy storage of the rubber tube is established through a nonlinear Mooney-Rivlin term that considers the elasticity of the bladder. 7,30 This relationship is based on the geometry and material properties of the rubber tube. The model is defined as follows…”

Section: Effect Of Elastic Energy Storagementioning

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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A mechanical model for McKibben pneumatic artificial muscles based on limiting chain extensibility and 3D application of the network alteration theories

Cited by 16 publications

References 37 publications

Multimodal Soft Robotic Actuation and Locomotion

Multimodal Soft Robotic Actuation and Locomotion

Maintenance Cost Minimization for an Agricultural Harvesting Gripper

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

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