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Mullins softening in pneumatic artificial muscles: Analytical solution and 3D application of the network alteration theories
Published in Bertrand Huneau, Jean-Benoit Le Cam, Yann Marco, Erwan Verron, Constitutive Models for Rubber XI, 2019
Pneumatic Artificial Muscles (PAMs) mimic behavior of skeletal muscles by generating contractile force in a nonlinear way when they are pressurized. The inner tube usually is made of an elastomeric material. Due to the non-linear mechanical behavior of elastomers, stiffness of these actuators would depend on the applied pressure. Therefore, it is important to obtain a precise mechanical model for them.
Robust Super-Twisting Sliding Control of PAM- actuated Manipulator Based on Perturbation Observer
Published in Cogent Engineering, 2020
Alaq Falah, Amjad J. Humaidi, Ayad Al-Dujaili, Ibraheem Kasim Ibraheem
The pneumatic actuators such as cylinders, pneumatic stepper motors, bellows, and pneumatic engines are commonly used to date. Pneumatic Artificial Muscles (PAMs) is one type of pneumatic actuators, which are made mainly of an inflatable and flexible membrane that works like inverse bellows; i.e. they contract on inflation. The force generated by PAM actuators does not depend only on pressure, but also on the state of inflation, which adds another source of spring-like behavior. These PAMs, which mimics the animal muscle, are characterized by lightweight since the membrane forms the core element of these actuators. However, they can transfer the same amount of power as cylinders do, where both actuators have the same volume and pressure ranges (Repperger et al., 1998; Rynolds et al., 2003).
Analysis, modeling and experimental validation of temperature-changing effect on mechanical properties of pneumatic artificial muscle
Published in Advanced Robotics, 2018
Guolei Wang, Xiaotong Hua, Jing Xu, Libin Song, Ken Chen
More and more attentions have been paid to PAM (Pneumatic Artificial Muscle, PAM) as a potential soft actuator to design more flexible, light weight and safe robots, due to the simplicity of its design, combining ease of implementation and analogous behavior with skeletal muscles. However, behind this apparent simplicity of its working principle, it is not that easy to understand how the PAM works and quantify its driving characteristic to use it properly. The problems have been studied for several decades [1–3]. Chou applied the force-balance principle to create an ideal PAM model, which was the most widely referred model by other researchers [4]. However, the nonlinear relationship between stress and strain inside the inner tube elastomer, the complex relationship between physical artificial muscle parameters, and the behavior of the braided sheath during contraction with the boundary constraint of rigid tips, are still needed to be researched, to better explain how the PAM works and improves the accuracy of the ideal model. In the past decades, some remarkable works have been done to improve the Chou model, such as considering the tip deformation and non-cylinder deformation [5], considering elastic deformation [6] and considering internal friction. [7,8]
Constructive understanding and reproduction of functions of gluteus medius by using a musculoskeletal walking robot
Published in Advanced Robotics, 2018
Hirofumi Shin, Shuhei Ikemoto, Koh Hosoda
Figure 1 shows the appearance of the developed robot. The robot’s height in the upright position is 1112 mm and its weight is 11.7 kg. Figure 5 shows the link lengths, which are designed to have the same ratio as those in humans [28]. The robot has 12 degrees-of-freedom (DOFs), which include hip, knee, and ankle joints. Three-DOF ball joints are used for the hip joint, 2-DOF universal joints are used for the ankle joint, and the knee joints are realized by a 1-DOF hinge joint. As actuators in the robot, pneumatic artificial muscles (PAMs) are used to reproduce human-like muscles, which are flexible and have variable impedance [29]. Note that all sensors and valves are mounted on the robot, and it can be self-contained if we use a small CO2 bottle instead of using a compressor. The muscle structure, and control system of the robot are explained in following section: