Comparison of contractile and extensile pneumatic artificial muscles

Pillsbury, Thomas; Wereley, Norman M.; Guan, Qinghua

doi:10.1088/1361-665x/aa7257

Cited by 23 publications

(28 citation statements)

References 21 publications

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“…Some drawbacks are as follows: (i) the configuration potentially leads to lower endurance, as it involves a flexible membrane, (ii) it presents a nonlinear force dependence with the piston position, and (iii) it requires a higher actuator length for the same stroke when compared to conventional actuators. Flexible materials are also used in pneumatic muscles [9,10], which are an alternative to conventional pneumatic cylinders whenever a high power-to-weight ratio is a primary requisite.…”

Section: Introductionmentioning

confidence: 99%

Model and Experimental Characteristics of a Pneumatic Linear Peristaltic Actuator

2020

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Pneumatic linear peristaltic actuators present several potential advantages over conventional ones such as low cost, virtually unlimited stroke, and an easy implementation of curved motion profiles. However, the body of this type of actuators also suffers from high mechanical stress, leading to a decrease in the hose wall thickness, which leads to increased leakages between chambers. One way to potentially minimize this problem is to impose the force instead of the displacement between rollers. This paper describes the model and experimental characteristics of a new prototype of a linear pneumatic peristaltic actuator where either the force or the displacement between rollers can be imposed. Namely, experimental friction characteristics and the leakage between chambers are determined in the configuration where the force between rollers is imposed. Lastly, a third-order linear model is experimentally identified. Therefore, this study establishes the basis for future research focused on the service life and leakage obtained whenever the force between rollers is imposed.

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Section: Introductionmentioning

confidence: 99%

Model and Experimental Characteristics of a Pneumatic Linear Peristaltic Actuator

2020

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“…Recently pneumatic artificial muscle (PAM) has received much attention in many application fields of bionics [1,2], medical care, morphing structures [3,4] and welfare, etc. due to its significant advantages of low cost, quick response time and high power/weight and power/volume ratios.…”

Section: Introductionmentioning

confidence: 99%

Variable Stiffness Structures Utilizing Pneumatic Artificial Muscles

2019

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Pneumatic artificial muscles (PAMs) can offer excellent force-to-weight ratios and act as shapechanging actuator under injecting the actuation fluid into their bladders. PAMs could be easily utilized for morphing structures due to their millimeter-scale diameter. The pressurized PAM can serve not only as artificial muscle actuator which obtains contraction deformation capability but also as a spring system with variable stiffness. In this study, the stiffness behaviors of pressurized PAMs and a variable stiffness structure are investigated. By taking advantage of the designed PAMs which was conducted by the nonlinear quasi-static model, significant changes in the spring stiffness can be achieved by air pressure control. A case study is presented to explore the potential behavior of a structure with circular permutation PAMs. The structure used in this case consists of sixteen PAMs with circular homogeneous distribution and a circular supporter with sixteen slide way runners. The stiffness of presented structure can vary flexibly in wide range through controlling the air pressure levels and slide deformation respectively.

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“…PA in soft robotics found widespread application in the creation of pneumatic artificial muscles (PAMs) and pneumatic soft manipulators. In the simple case, PAM represents a flexible, tubular structure with an empty chamber, which is filled with air in order to contract or extend a muscle [11,12]. More complex pneumatic manipulators, such as a tentacle-like soft robotic manipulator [13], consist of several sections and pressurized chambers to maintain more accurate and flexible control over actuator shape.…”

Section: Introductionmentioning

confidence: 99%

Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype

et al. 2018

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Abstract:The following is a study of the performance of soft cable-driven polymer actuators produced by multimaterial 3D printing. We demonstrate that the mechanical response of the polymer actuator with an embedded cable can be flexibly tuned through the targeted selection of actuator architecture. Various strategies, such as the addition of discrete or periodic stiff inserts, the sectioning of the actuator, or the shifting of the cable channel are employed to demonstrate ways to achieve more controllable deformed shape during weight lifting or reduce the required actuation force. To illustrate these concepts, we design and manufacture a prototype of the soft polymer gripper, which is capable of manipulating small, delicate objects. The explored strategies can be utilized in other types of soft actuators, employing, for instance, actuation by means of electroactive polymers.

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Comparison of contractile and extensile pneumatic artificial muscles

Cited by 23 publications

References 21 publications

Model and Experimental Characteristics of a Pneumatic Linear Peristaltic Actuator

Model and Experimental Characteristics of a Pneumatic Linear Peristaltic Actuator

Variable Stiffness Structures Utilizing Pneumatic Artificial Muscles

Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype

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