1 School of Mechanical System Engineering, Chung-Ang University , Seoul, Korea.
2 School of Mechanical Engineering, Chung-Ang University , Seoul, Korea.
Soft Robot. 2018 Oct;5(5):554-566. doi: 10.1089/soro.2017.0114. Epub 2018 Jun 20.
There is a growing interest in soft actuators for human-friendly robotic applications. However, it is very challenging for conventional soft actuators to achieve both a large working distance and high force. To address this problem, we present a high-contraction ratio pneumatic artificial muscle (HCRPAM), which has a novel actuation concept. The HCRPAM can contract substantially while generating a large force suitable for a wide range of robotic applications. Our proposed prototyping method allows for an easy and quick fabrication, considering various design variables. We derived a mathematical model using a virtual work principle, and validated the model experimentally. We conducted simulations for the design optimization using this model. Our experimental results show that the HCRPAM has a 183.3% larger contraction ratio and 37.1% higher force output than the conventional pneumatic artificial muscle (McKibben muscle). Furthermore, the actuator has a compatible position tracking performance of 1.0 Hz and relatively low hysteresis error of 4.8%. Finally, we discussed the controllable bending characteristics of the HCRPAM, which uses heterogeneous materials and has an asymmetrical structure to make it comfortable for a human to wear.
人们对用于人机友好型机器人应用的软致动器越来越感兴趣。然而，对于传统的软致动器来说，实现大工作距离和高力是非常具有挑战性的。为了解决这个问题，我们提出了一种高收缩比气动人工肌肉（HCRPAM），它具有新颖的驱动概念。HCRPAM 在产生适用于各种机器人应用的大力量的同时，可以大幅收缩。我们提出的原型制作方法考虑了各种设计变量，允许进行简单快速的制造。我们使用虚功原理推导出了一个数学模型，并通过实验验证了该模型。我们使用该模型进行了设计优化的模拟。我们的实验结果表明，HCRPAM 的收缩比比传统气动人工肌肉（McKibben 肌肉）大 183.3%，力输出高 37.1%。此外，该致动器具有 1.0 Hz 的兼容位置跟踪性能和相对较低的 4.8%滞后误差。最后，我们讨论了 HCRPAM 的可控弯曲特性，它使用了异构材料和不对称结构，使其穿着舒适。
