Compact and Lightweight Hydraulic Actuation System for High Performance Millimeter Scale Robotic Applications: Modeling and Experiments

Solano, Belen; Rotinat-Libersa, Christine

doi:10.1177/1045389x11418860

Cited by 25 publications

(15 citation statements)

References 11 publications

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“…The reported maximum (blocked) forces covered a wide range with the larger diameter muscles generated the higher forces. Three previous studies used similarly small diameter braids as used in the present work of less than 6 mm [16,20,24]. The maximum contraction (free) strains from these small diameter braids were of a similar magnitude (~20%) and the maximum blocked forces were either similar or lower than those reported in the present study.…”

Section: Effect Of the Unloaded Muscle Length On Isometric Force Genecontrasting

confidence: 51%

“…Moreover, it has been shown that it was possible to design relatively 'large' pneumatic McKibben muscles to actuate human limb-size robots [22], or even very powerful ones thanks to the use of a particular strong external braided sleeve [23]. In an alternative way, it is also possible to develop microscale HAMs like the ones proposed by Moon, Ryu, Chun et al [16], or by Sodano and Rotinat-Libersa [24] for millimeter scale robot development. The purpose of the work reported in this paper is to investigate small-size hydraulic McKibben muscles working in a limited pressure range as developed by Tiwari, Meller et al [20], but with the additional constraint of functioning using small, low voltage pumps suitable for portable applications.…”

Section: Joseph L Mckibben Was the First To Introduce Mckibben Artifmentioning

confidence: 99%

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The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Sangian

Naficy

Spinks

et al. 2015

Sensors and Actuators A: Physical

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Fluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.  Effect of the bladder stiffness on Muscle performance is studied. A new and more accurate equation to predict the muscle performances is proposed. A sealed actuation system suitable for robotic machines with low voltage water pump is introduced. AbstractFluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 Bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.

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Section: Effect Of the Unloaded Muscle Length On Isometric Force Genecontrasting

confidence: 51%

Section: Joseph L Mckibben Was the First To Introduce Mckibben Artifmentioning

confidence: 99%

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Sangian

Naficy

Spinks

et al. 2015

Sensors and Actuators A: Physical

View full text Add to dashboard Cite

show abstract

“…Select research groups have utilized McKibben muscles hydraulically (Focchi et al, 2010;Meller et al, 2014b;Mori et al, 2010;Solano and Rotinat-Libersa, 2011;Tiwari et al, 2012). However, these actuators have not yet been fully characterized in the literature.…”

Section: Mckibben Artificial Musclesmentioning

confidence: 99%

Linear dynamometer testing of hydraulic artificial muscles with variable recruitment

Chipka

Meller

Volkov

et al. 2017

Journal of Intelligent Material Systems and Structures

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A novel, meso-scale hydraulic actuator characterization test platform, termed a linear hydraulic actuator characterization device, is demonstrated and characterized in this study. The linear hydraulic actuator characterization device is applied to testing McKibben artificial muscles and is used to show the energy savings due to the implementation of a variable recruitment muscle control scheme. The linear hydraulic actuator characterization device is a hydraulic linear dynamometer that can be controlled to enable a desired force and stroke profile to be prescribed to the artificial muscles. The linear hydraulic actuator characterization device consists of a drive actuator that is connected in series with the test muscles. Thus, the drive cylinder can act as a controlled disturbance to the artificial muscles to simulate various loading conditions. With the ability to control the loading conditions of the artificial muscles, the linear hydraulic actuator characterization device offers the ability to experimentally validate the muscles’ performance and energetic characteristics. For instance, the McKibben muscles’ quasi-static force–stroke capabilities, as well as the power savings of a variable recruitment control scheme, are measured and presented in this work. Moreover, the development and fabrication of this highly versatile characterization test platform for hydraulic actuators is described in this article, and the characterization test results and efficiency study results are presented.

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“…Previous work with PAMs has focused on actuators with diameters on the order of an inch and lengths on the order of one foot. A PAM having such dimensions would be far too large for a MAV actuator, and thus a primary focus of the present work was to investigate PAM miniaturization using air as the working fluid as opposed to water as was done by Solano and Rotinat-Libersa (2011).…”

Section: Mini-pam Fabricationmentioning

confidence: 99%

Design and testing of a high-specific work actuator using miniature pneumatic artificial muscles

Vocke

Kothera²,

Chaudhuri

et al. 2012

Journal of Intelligent Material Systems and Structures

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Micro-air vehicle (MAV) development is moving toward smaller and more capable platforms to enable missions such as indoor reconnaissance. This miniaturization creates challenging constraints on volume and energy generation/storage for all systems onboard. Actuator technologies must also address these miniaturization goals. Much research has focused on active material systems, such as piezoelectric materials and synthetic jets, but these advanced technologies have specific, but limited, capability. Conventional servo technology has also encountered concerns over miniaturization. Motivation has thus been established to develop a small-scale actuation technology prototype based on pneumatic artificial muscles, which are known for their lightweight, high-output, and low-pressure operation. The miniature actuator provides bidirectional control capabilities for a range of angles, rates, and loading conditions. Problems addressed include the scaling of the pneumatic actuators and design of a mechanism to adjust the kinematic load-stroke profile to suit the pneumatic actuators. The kinematics of the actuation system was modeled, and a number of bench-top configurations were fabricated, assembled, and experimentally characterized. Angular deflection and angular rate output of the final bench-top prototype system are presented, showing an improvement over conventional servo motors used in similar applications, especially in static or low-frequency operation.

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Compact and Lightweight Hydraulic Actuation System for High Performance Millimeter Scale Robotic Applications: Modeling and Experiments

Cited by 25 publications

References 11 publications

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Linear dynamometer testing of hydraulic artificial muscles with variable recruitment

Design and testing of a high-specific work actuator using miniature pneumatic artificial muscles

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