scholarly journals Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 107
Author(s):  
Yinglong Chen ◽  
Junhao Zhang ◽  
Yongjun Gong
Keyword(s):  
Mechanical Characteristics ◽  
Artificial Muscle ◽  
Variable Stiffness ◽  
Pneumatic Artificial Muscle ◽  
Human Machine Interaction ◽  
Soft Actuator ◽  
Stiffness Characteristics ◽  
Machine Interaction ◽  
Novel Design ◽  
Compound Action

The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM) actuator, based on the antagonistic mechanism of extensor and contractor muscles, a novel pneumatic soft actuator coupled of extensor and contractor muscles is proposed in this paper. The actuator can perform the compound action of elongation/contraction, and the stiffness of it can be controlled by adjusting the elongation and contraction forces. Secondly, based on the deformation principle of woven and elastic fabric layers, the mechanical characteristics model of the actuator is established and simulated. The mechanical properties of the actuator are tested under different pressures and deformation displacement and the variable stiffness characteristics of the actuator are verified. Finally, actuators are utilized to manufacture a soft mechanical manipulator, which can achieve variable stiffness in a fixed bending attitude.

scholarly journals The Design and Mathematical Model of a Novel Variable Stiffness Extensor-Contractor Pneumatic Artificial Muscle

Soft Robotics ◽  
2018 ◽  
Vol 5 (5) ◽  
pp. 576-591 ◽  
Author(s):  
Hassanin Al-Fahaam ◽  
Samia Nefti-Meziani ◽  
Theo Theodoridis ◽  
Steve Davis
Keyword(s):  
Mathematical Model ◽  
Artificial Muscle ◽  
Variable Stiffness ◽  
Pneumatic Artificial Muscle

Novel Design of a Passive Variable Stiffness Joint Mechanism: Inspiration From Biomechanics of Hand Joints

2013 ◽  
Author(s):  
Pei-Hsin Kuo ◽  
Ashish D. Deshpande
Keyword(s):  
Virtual Work ◽  
Joint Stiffness ◽  
Variable Stiffness ◽  
Human Hand ◽  
Robotic Hand ◽  
Hand Joints ◽  
Large Joint ◽  
Joint Mechanism ◽  
Stiffness Characteristics ◽  
Novel Design

Passive variable stiffness at the human hand joints is shown to be critical for achieving stable and dexterous grasping and manipulation. Our long-term goal is to implement it in robotic hand joints. We introduce a novel design, using linear springs and non-circular cam, for a variable stiffness joint mechanism that mimics the passive stiffness characteristics of human hand joints. We present a methodology based on the principle of virtual work for synthesizing the cam shape in the joint. Key innovations of our design are a) human-like joint stiffness profile, b) large joint range of motion, and c) modular arrangement for varying torque range. We have built a prototype for validating our approach and the experimental results demonstrate that the proposed joint mechanism fulfills the design goals of our study.

Axial Mechanical Characteristics Analysis of Elongational Pneumatic Artificial Muscle

2013 ◽  
Vol 561 ◽  
pp. 510-514
Author(s):  
Gui Lan Zhang ◽  
De Xu Geng
Keyword(s):  
Mechanical Characteristics ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Mechanics Model ◽  
Characteristics Analysis ◽  
Mechanics Characteristics

This paper has introduced the structure of elongational pneumatic artificial muscle, analyzed axial mechanics characteristics of elongation artificial muscle, established the axial mechanics model, verified the credibility of the model through the experiment.

A Pneumatic Artificial Muscle Bionic Kangaroo Leg Suspension

2019 ◽  
Vol 12 (4) ◽  
pp. 357-366
Author(s):  
Yong Song ◽  
Shichuang Liu ◽  
Jiangxuan Che ◽  
Jinyi Lian ◽  
Zhanlong Li ◽  
...  
Keyword(s):  
Strong Shock ◽  
Artificial Muscle ◽  
Suspension System ◽  
Vehicle Body ◽  
Vehicle Suspension ◽  
Pneumatic Artificial Muscle ◽  
Advantages And Disadvantages ◽  
Road Excitation ◽  
Vehicle Suspension System ◽  
Suspension Structure

Background: Vehicles generally travel on different road conditions, and withstand strong shock and vibration. In order to reduce or isolate the strong shock and vibration, it is necessary to propose and develop a high-performance vehicle suspension system. Objective: This study aims to report a pneumatic artificial muscle bionic kangaroo leg suspension to improve the comfort performance of vehicle suspension system. Methods: In summarizing the existing vehicle suspension systems and analyzing their advantages and disadvantages, this paper introduces a new patent of vehicle suspension system based on the excellent damping and buffering performance of kangaroo leg, A Pneumatic Artificial Muscle Bionic Kangaroo Leg Suspension. According to the biomimetic principle, the pneumatic artificial muscles bionic kangaroo leg suspension with equal bone ratio is constructed on the basis of the kangaroo leg crural index, and two working modes (passive and active modes) are designed for the suspension. Moreover, the working principle of the suspension system is introduced, and the rod system equations for the suspension structure are built up. The characteristic simulation model of this bionic suspension is established in Adams, and the vertical performance is analysed. Results: It is found that the largest deformation happens in the bionic heel spring and the largest angle change occurs in the bionic ankle joint under impulse road excitation, which is similar to the dynamic characteristics of kangaroo leg. Furthermore, the dynamic displacement and the acceleration of the vehicle body are both sharply reduced. Conclusion: The simulation results show that the comfort performance of this bionic suspension is excellent under the impulse road excitation, which indicates the bionic suspension structure is feasible and reasonable to be applied to vehicle suspensions.

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