A novel piezohydraulic actuator as artificial muscle in robotic applications

2015 ◽  
Author(s):  
Wolfgang Zoels ◽  
Iason Vittorias ◽  
Georg Bachmaier
Keyword(s):  
Artificial Muscle ◽  
Robotic Applications

scholarly journals Selection of Artificial Muscle Actuators for a Continuum Manipulator

2018 ◽  
Author(s):  
Devin R. Berg ◽  
Perry Y. Li ◽  
Arthur G. Erdman
Keyword(s):  
Experimental Validation ◽  
Selection Process ◽  
Artificial Muscle ◽  
Analytical Description ◽  
Candidate Solution ◽  
Specific Parameter ◽  
Continuum Manipulator ◽  
Muscle Actuators ◽  
Robotic Applications ◽  
Selection Of

Artificial muscle actuators have become a popular choice as actuation units for robotic applications, particularly in the growing area of soft robotics. The precise specification of an artificial muscle actuator for a particular application requires the consideration of several parameters that work together to achieve the performance characteristics of the actuator. This paper explores the specification of artificial muscle actuator parameters by presenting and applying the analytical description of the actuator, simulation by finite element method for investigating material stresses under a wide variety of configurations, and a specific parameter selection process. This is followed by an experimental validation using an example actuator to compare against the predicted actuator performance. Some discussion of appropriateness of this type of actuator as a candidate solution for use in the example application of a dexterous continuum manipulator is included.This work has been submitted to the IEEE for possible publication.

Design and Control of a Shape Memory Alloy Wire Bundle Actuator

2000 ◽  
Author(s):  
Michael J. Mosley ◽  
Constantinos Mavroidis
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Artificial Muscle ◽  
Linear Displacement ◽  
Nickel Titanium ◽  
Input Shaping ◽  
Joint Rotation ◽  
Revolute Joint ◽  
And Control ◽  
Robotic Applications

Abstract In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium SMA wires mechanically bundled in parallel forming one powerful artificial muscle. This new linear actuator can apply up to 100 lbf (445 N), which is approximately 300 times its weight, over a maximum distance of 0.5 in. (1.27 cm). The actuator was tested in two different loading configurations — linear displacement and operation of a revolute joint. A PID based controller with the addition of an input shaping function was developed for each loading configuration with excellent results, maintaining steady state error within ± 0.004 in. (0.1 mm) for linear motion and ± 1° for revolute joint rotation. This powerful, compact, and lightweight actuator shows promise for use in space, medical, and other macro-robotic applications.

Twisting and Braiding Fluid-Driven Soft Artificial Muscle Fibers for Robotic Applications

Soft Robotics ◽  
2021 ◽  
Author(s):  
Phuoc Thien Phan ◽  
Trung Thien Hoang ◽  
Mai Thanh Thai ◽  
Harrison Low ◽  
Nigel Hamilton Lovell ◽  
...  
Keyword(s):  
Muscle Fibers ◽  
Artificial Muscle ◽  
Robotic Applications

Second generation pleated pneumatic artificial muscle and its robotic applications

2006 ◽  
Vol 20 (7) ◽  
pp. 783-805 ◽  
Author(s):  
Björn Verrelst ◽  
Ronald Van Ham ◽  
Bram Vanderborght ◽  
Dirk Lefeber ◽  
Frank Daerden ◽  
...  
Keyword(s):  
Second Generation ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Robotic Applications

scholarly journals Comparative study of robotic artificial actuators and biological muscle

2020 ◽  
Vol 12 (6) ◽  
pp. 168781402093340 ◽  
Author(s):  
Wei Liang ◽  
Hao Liu ◽  
Kunyang Wang ◽  
Zhihui Qian ◽  
Luquan Ren ◽  
...  
Keyword(s):  
Comparative Analysis ◽  
Comparative Study ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Stimuli Responsive ◽  
Responsive Materials ◽  
High Level ◽  
External Stimuli ◽  
Robotic Applications

Biological muscles exhibit a high level of integration, in which actuators, sensors and transmission elements can be included in one component. Artificial muscles or actuators refer to intelligent stimuli-responsive materials that could reversibly deform with the trigger of various external stimuli. These materials, which have attracted tremendous attention, produce natural muscle-like actuation performance and show promising applications in robotics. After an introduction of various actuator technologies that contribute to robotic applications, a comparative analysis of the main actuation parameter is provided. The comprehensive comparisons of each kind of artificial muscle are summarised, and the promising properties that are required in robotics are presented, which highlight the development of their actuation performances and the challenges that limit their further employments. Future developmental prospects and perspectives of artificial actuators are discussed.

scholarly journals Polypyrrole nanoparticles-based soft actuator for artificial muscle applications

RSC Advances ◽  
2019 ◽  
Vol 9 (68) ◽  
pp. 39721-39734 ◽  
Author(s):  
Ajahar Khan ◽  
Khalid A. Alamry ◽  
Ravi Kant Jain
Keyword(s):  
Raw Materials ◽  
Artificial Muscle ◽  
Fabrication Technique ◽  
Soft Actuator ◽  
Important Challenge ◽  
Polypyrrole Nanoparticles ◽  
Soft Actuators ◽  
Robotic Applications

Currently, a straightforward fabrication technique for the development of soft actuators to explore their potential in robotic applications using environmentally compatible raw materials represents an important challenge.

Structural Design and Position and Posture Analysis of Five-Fingered Robot Hand Based on Pneumatic Flexible Joint

2010 ◽  
Vol 44-47 ◽  
pp. 2883-2887 ◽  
Author(s):  
De Xu Geng ◽  
Ji Zhao ◽  
Lei Zhang ◽  
Yun Wei Zhao
Keyword(s):  
Structural Design ◽  
Artificial Muscle ◽  
Robot Hand ◽  
Pneumatic Artificial Muscle ◽  
Posture Analysis ◽  
Robot Hands ◽  
Flexible Mechanism ◽  
High Flexibility ◽  
The Relationship ◽  
Robotic Applications

Design and analysis of a five-fingered robot hand is presented. The robot hand has five multi-actuated fingers each with three flexible joints. Each joint is designed using a novel flexible mechanism based on elongation pneumatic artificial muscle. Its high flexibility and inherent compliance make them ideally suited for delicate tasks, e.g. grasp, pinch, and nip. Furthermore, this paper established the mathematical models to simulate the behavior of grasping; get the relationship between air pressure as well as position and posture of fingers. In view of all characteristics five-fingered robot hands are very well suited for automation and robotic applications.

Dynamic Analysis Method for Electromagnetic Artificial Muscle Actuator under PID Control

2011 ◽  
Vol 131 (2) ◽  
pp. 166-170 ◽  
Author(s):  
Yoshihiro Nakata ◽  
Hiroshi Ishiguro ◽  
Katsuhiro Hirata
Keyword(s):  
Dynamic Analysis ◽  
Pid Control ◽  
Artificial Muscle ◽  
Analysis Method

Frontier concept of rabi chip for intelligent humanoid

2018 ◽  
Vol 1 (2) ◽  
Author(s):  
Preecha Yupapin ◽  
Amiri I. S. ◽  
Ali J. ◽  
Ponsuwancharoen N. ◽  
Youplao P.
Keyword(s):  
Human Brain ◽  
Brain Function ◽  
Rabi Oscillation ◽  
Liquid Core ◽  
Brain Surface ◽  
Dipole Oscillation ◽  
On Chip ◽  
The Brain ◽  
Robotic Applications ◽  
Atom System

The sequence of the human brain can be configured by the originated strongly coupling fields to a pair of the ionic substances(bio-cells) within the microtubules. From which the dipole oscillation begins and transports by the strong trapped force, which is known as a tweezer. The tweezers are the trapped polaritons, which are the electrical charges with information. They will be collected on the brain surface and transport via the liquid core guide wave, which is the mixture of blood content and water. The oscillation frequency is called the Rabi frequency, is formed by the two-level atom system. Our aim will manipulate the Rabi oscillation by an on-chip device, where the quantum outputs may help to form the realistic human brain function for humanoid robotic applications.

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