Design, implementation and modelling of the single and multiple extensor pneumatic muscle actuators

Al-Ibadi, Alaa; Nefti‐Meziani, Samia; Davis, Steve

doi:10.1080/21642583.2018.1451787

Cited by 16 publications

(12 citation statements)

References 24 publications

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“…Fiber‐reinforced McKibben actuators were described by Liu and Rahn in 2003 305. They reported a key threshold braided sleeve angle of 54.7° that shifts contractor pneumatic artificial muscles (PAMs) into extensor PAMs 306. Variation of fiber angles or selective fiber re‐enforcement have also been used to achieve expansion, bending, and twisting motion 307.…”

Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

Materials as Machines

2020

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“…The braided angle θ at relaxed condition (unpressurised) controls whether the actuator will act as an extension or contraction muscle. The braided angle less than 54.7° leads to produce a contractor PMA [28], while, the actuator behaves as an extensor PMA if the initial braided angle is greater than 54.7° [15,27,39]. Sárosi, et al [40] set 25% as a maximum contraction ratio for the contraction PMA, however, the structure of the actuator, the specifications and the dimensions of the inner rubber tube effects on its value [28], as well as the maximum diameter of the braided sleeve.…”

Section: The Structure Of the Pneumatic Muscle Actuatormentioning

confidence: 99%

“…However, it is not more than 35% [15] [28]. On the other hand, the extensor PMA could be extended to more than 50% [4,27,41]. The contraction ratio and the extension ratios are defined in (1) and (2), respectively.…”

Section: The Structure Of the Pneumatic Muscle Actuatormentioning

confidence: 99%

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Novel Design and Position Control Strategy of a Soft Robot Arm

et al. 2018

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This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

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“…Reynold model, B. Yao in 2016 proposed a synthetically empirical model consisted of hysteresis, viscous damping, rubber elasticity and contractile elements in parallel [24]. Recently, A.A. Ibadi, in 2016-2018, also considered an exponential correction factor q to account for shape irregularities of McKibben muscle [25][26][27]. These researches were focused on quasi-static empirical modeling without quasi-rate and historic dependencies.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method

Dzahir

Yamamoto

2019

Applied Sciences

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This paper explores empirical modeling of McKibben muscle in characterizing its hysteresis behavior and nonlinearities during quasi-static, quasi-rate, and historic dependencies. The unconventional materials-based actuating system called McKibben muscle has excellent properties of power-to-weight ratio, which could be used in rehabilitation orthosis application for condition monitoring, physical enhancement, and rehabilitation therapy. McKibben muscle is known to exhibit hysteresis behavior and it is rate-dependent (the level of hysteresis depends closely on rate of input excitation frequency). This behavior is undesirable and it must be considered in realizing high precision control application. In this paper, the nonlinearities of McKibben muscle is characterized using empirical modeling with multiple correction functions such as shape irregularity and slenderness. A particle swarm optimization (PSO) method is used to determine the best parametric values of the proposed empirical with modified dynamic friction model. The LabVIEW and MATLAB platforms are used for data analysis, modeling and simulation. The results confirm that this model able to significantly characterize the nonlinearities of McKibben muscle while considering all dependencies.

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Design, implementation and modelling of the single and multiple extensor pneumatic muscle actuators

Cited by 16 publications

References 24 publications

Materials as Machines

Materials as Machines

Novel Design and Position Control Strategy of a Soft Robot Arm

Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method

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