Lee Jin-Gyu, Rodrigue Hugo
School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea.
Soft Robot. 2022 Jun;9(3):413-424. doi: 10.1089/soro.2020.0117. Epub 2021 Jun 7.
In this article, a novel actuator called armor-based stable force pneumatic artificial muscle (AS-PAM) is presented. AS-PAM has a sealed chamber made of polygonal parts and film, which helps the actuator to be lightweight (∼100 g) and achieve a large contraction ratio (>60%). It has an armor and a constraint to guide its motion, which keeps its force output [6.25 N/(cm·bar)] stable over its operating range (<10% deviation). An analytical model is presented to predict and control the behavior of the actuator, and various experiments were conducted to show the validity of the model. Afterward, a gripper using the actuators is presented to illustrate how it can be used in real applications. With its characteristics, the actuator shows interesting behaviors that cannot be found in other soft pneumatic actuators, and it would allow AS-PAM to expand the range of applications in which soft robots cooperate with humans.
在本文中，提出了一种名为基于铠甲的稳定力气动人工肌肉（AS-PAM）的新型致动器。AS-PAM具有由多边形部件和薄膜制成的密封腔室，这有助于该致动器重量轻（约100克）并实现大收缩率（>60%）。它有一个铠甲和一个用于引导其运动的约束装置，这使其力输出[6.25 N/(cm·bar)]在其工作范围内保持稳定（偏差<10%）。提出了一个分析模型来预测和控制该致动器的行为，并进行了各种实验以证明该模型的有效性。之后，展示了一种使用该致动器的夹具，以说明它如何在实际应用中使用。凭借其特性，该致动器展现出在其他软气动致动器中无法找到的有趣行为，并且这将使AS-PAM能够扩大软机器人与人类协作的应用范围。
