Hydraulically Actuated Artificial Muscles

被引：1

作者：

Meller, M. A. ^{[1
]}

Tiwari, R. ^{[1
]}

Wajcs, K. B. ^{[1
]}

Moses, C. ^{[1
]}

Reveles, I. ^{[1
]}

Garcia, E. ^{[1
]}

机构：

[1] Cornell Univ, Lab Intelligent Machine Syst, Ithaca, NY 14853 USA

来源：

ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2012 | 2012年 / 8340卷

关键词：

artificial muscle; meso-scale; hydraulics; antagonistic pairs; robots; PNEUMATIC MUSCLE; ROBOTS;

D O I：

10.1117/12.913949

中图分类号：

O646 [电化学、电解、磁化学];

学科分类号：

081704 ;

摘要：

Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.

引用

页数：17

共 16 条

[1]

[Anonymous], SHAD 30MM AIR MUSCL

[2]

[Anonymous], PNEUM CYL

[3]

[Anonymous], 2008, MTSIEEE KOBE TECHNO, DOI DOI 10.1109/OCEANSKOBE.2008.4530964

[4]

Caldwell D., 1993, P IFAC C INT AUT VEH, P507

[5] Fuzzy control for pneumatic muscle tracking via evolutionary tuning [J].

Chang, X ;

Lilly, JH .

INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2003, 9 (04) :227-244

[6]

FESTO, FLUID MUSCL DMSP MAS

[7] Artificial muscles: Actuators for biorobotic systems [J].

Klute, GK ;

Czerniecki, JM ;

Hannaford, B .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (04) :295-309

[8] A Novel Actuator for Underwater Robots [J].

Ku, Kenneth K. K. ;

Bradbeer, Robin S. ;

Lam, Katherine K. Y. ;

Yeung, Lam F. ;

Li, Robin C. W. .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2009, 34 (03) :331-342

[9]

Rabie M., 2009, FLUID POWER ENG

[10] Modeling the dynamic characteristics of pneumatic muscle [J].

Reynolds, DB ;

Repperger, DW ;

Phillips, CA ;

Bandry, G .

ANNALS OF BIOMEDICAL ENGINEERING, 2003, 31 (03) :310-317

← 1 2 →