Analysis on stiffness and frictional effect of water hydraulic artificial muscle by pseudo-static isobaric experiments

Driving processes and characteristics are different between the water hydraulic artificial muscle and pneumatic artificial muscle due to the difference of work media employed in muscles. An appropriative hydraulic circuit was designed to control the pressure of the water hydraulic artificial muscle and the performance of this system was analyzed. An AMESim model of the control system was built and the dynamic characteristics are analyzed with various parameters of the hydraulic circuit and various loads by simulation. The results show that the performance of the water hydraulic control valve should agree with the dimension of the water hydraulic artificial muscle. The rated flow rate of the water hydraulic valves can be selected increasingly while the load mass is low. Meanwhile, the overshoot is generated and enlarged along with the increases of the flow rate and load mass. These contribute to the improvements of designs and researches on control systems of water hydraulic artificial muscles.

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Promoting Sustainability through Water Hydraulic Technology – The Effect of Water Hydraulic in Industrial Scissor Lift

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.315.488 ◽

2013 ◽

Vol 315 ◽

pp. 488-492 ◽

Cited By ~ 4

Author(s):

Ahmad Anas Yusof ◽

Shafizal Mat ◽

Abdul Talib Din

Keyword(s):

Molecular Structure ◽

Hydraulic System ◽

Maintenance Cost ◽

Test Rig ◽

Transfer Energy ◽

Hydraulic Oil ◽

Effect Of Water ◽

Low Viscosity ◽

System A ◽

Water Hydraulic

Sustainability concern has brought the idea of exploring the possibility of using water as the hydraulic medium to transfer energy. The abundant resource of water, and its characteristic involving hygiene, safety and low maintenance cost provides a fascinating perspective of choosing water over hydraulic oil, due to concerns over oil disposal, contamination, costly maintenance and flammability. However, in contrast, its low boiling temperature, low viscosity, and simple molecular structure could pose danger to the operation of the hydraulic system. In order to identify these limitations, an experimental study is carried out to explore the effect of water hydraulic system. A test rig of scissor lift is fabricated and put into test by replacing the hydraulic oil with reverse osmosis water. It is found that the water hydraulic scissor lift managed to lift up to 400 kg of load, with workable water temperature of 41.4°C.

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The Effect of Water Hydraulic Permeability on the Settling of a Soft Contact Lens on the Eye

Current Eye Research ◽

10.1080/02713680590934085 ◽

2005 ◽

Vol 30 (5) ◽

pp. 329-336 ◽

Cited By ~ 17

Author(s):

M. V. Monticelli ◽

A. Chauhan ◽

C. J. Radke

Keyword(s):

Contact Lens ◽

Hydraulic Permeability ◽

Soft Contact ◽

Effect Of Water ◽

Soft Contact Lens ◽

Water Hydraulic

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Position/force control of master–slave antagonistic joint actuated by water hydraulic artificial muscles

International Journal of Advanced Robotic Systems ◽

10.1177/1729881419853981 ◽

2019 ◽

Vol 16 (3) ◽

pp. 172988141985398

Author(s):

Dayong Ning ◽

Jinkai Che ◽

Zengmeng Zhang ◽

Hao Tian ◽

Jiaoyi Hou ◽

...

Keyword(s):

Rotation Angle ◽

Weight Ratio ◽

Artificial Muscle ◽

Force Transducer ◽

Torque Control ◽

Artificial Muscles ◽

Pneumatic Artificial Muscle ◽

Proportional Integral Derivative ◽

Proportional Integral ◽

Water Hydraulic

Because of the high force–weight ratio of water hydraulic artificial muscle and its high compatibility with an underwater environment, the water hydraulic artificial muscle has received increasing attention due to its potential uses in marine engineering applications. The master–slave anthropopathic joint actuated by water hydraulic artificial muscles is light and small, and it has good maneuverability for underwater manipulators. However, the control methodologies for water hydraulic artificial muscle joint have not been thoroughly explored to date. This article introduces a master–slave control system of isomorphic artificial muscle joints. The water hydraulic artificial muscle joint acts as a slave joint working under the sea, and the pneumatic artificial muscle joint acts as a master joint that is operated by people. The rotation angle signal of the pneumatic artificial muscle joint is fed back as the input to regulate the rotation angle of the water hydraulic artificial muscle joint through a proportional–integral–derivative control. Meanwhile, the torque of the pneumatic artificial muscle joint is controlled by a proportional–integral–derivative controller based on the feedback of a two-force-transducer system in the water hydraulic artificial muscle joint as input. Therefore, the operator can control the movement and feel the load of the water hydraulic artificial muscle slave joint. Master–slave control experiments were performed, and the position/torque control results were analyzed using various loads and torque gains. This study contributes to the design and control of an anthropopathic underwater manipulator.

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A Water-Hydraulic Upper-Limb Assistive Exoskeleton System with Displacement Estimation

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2020.p0149 ◽

2020 ◽

Vol 32 (1) ◽

pp. 149-156 ◽

Cited By ~ 3

Author(s):

Takahiro Kosaki ◽

◽

Shigang Li

Keyword(s):

Upper Limb ◽

Tap Water ◽

Artificial Muscle ◽

Rubber Tube ◽

Flow Rates ◽

Displacement Estimation ◽

Measured Flow ◽

Elastic Rubber ◽

Water Hydraulic ◽

Estimation System

This paper describes the development of an angle-sensorless exoskeleton with a tap water-driven artificial muscle actuator. The artificial muscle actuator consisted of an elastic rubber tube reinforced by braided fiber. Such actuators are highly flexible, lightweight, and water-resistant, and thus are inherently safe even for operations in direct contact with humans. An estimation system for the displacement of the artificial muscle actuator based on the water flow rates detected by flowmeters was constructed for the water-hydraulic exoskeleton. In addition, estimators of the velocity and acceleration of the actuator based on the estimated displacement and the measured flow rates were derived and incorporated into the estimation system. With this system, our previous wearable upper-limb assistive exoskeleton prototype was converted into an angle-sensorless version with higher safety in wet conditions. Its assistive performance was evaluated through experiments with research participants. Experimental results demonstrated that muscle activity could be reduced, although an assistive control strategy was executed with the variables estimated, excluding force.

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Drive Characteristic Analysis and Test System Design for Water Hydraulic Artificial Muscle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.511-512.737 ◽

2014 ◽

Vol 511-512 ◽

pp. 737-742

Author(s):

Zeng Meng Zhang ◽

Yong Jun Gong ◽

Jiao Yi Hou

Keyword(s):

Artificial Muscle ◽

Pressure Control ◽

Test System ◽

Artificial Muscles ◽

Performance Tests ◽

Hydraulic Circuit ◽

Characteristic Analysis ◽

Loading System ◽

Water Hydraulic ◽

And Control

Performance tests and drive experiments play an important role in researches on water hydraulic artificial muscles. A test system is designed to analyze the drive characteristic of the developed water hydraulic artificial muscle. Through simulation getting main parameters, the hydraulic circuit to regulate the pressure of the water hydraulic artificial muscle and a proportional control loading system are built. The pressure control and drawing force regulation in the loading system for muscles with different diameter and length are provided by the designed test system. The experimental results show that the muscle pressure can be adjusted stably and the contraction of the tested muscle can be measured under different preset drawing forces. The test system for the water hydraulic artificial muscle is useful in the researches on drive characteristic and control system of the water hydraulic artificial muscle.

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