Simple, Low-Hysteresis, Foldable, Fabric Pneumatic Artificial Muscle
Simple, Low-Hysteresis, Foldable, Fabric Pneumatic Artificial Muscle
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DOI：
10.1109/lra.2020.2976309
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Hawkes, Elliot W.
中科院分区：
文献类型：
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作者：
Naclerio, Nicholas D.;Hawkes, Elliot W.
软机器人在适应性，不确定性鲁棒性和人体安全方面提供了优于刚性机器人的优势。但是，实现这些机器人的软执行器仍然是一个挑战。我们提出了一种简单，高度符合的气动人造肌肉，由薄的单层编织，偏见的织物制成。密闭的织物与柔性粘合剂粘合在一起，否定了膀胱或缝纫的需求。因此，当压缩时，它是可折叠的，在加压时表现得像麦基本肌肉，但没有膀胱或编织鞘的摩擦。实验表明，肌肉表现出可重复的，接近线性的行为，滞后小于1％，其数量级比麦基本肌肉的数量级小。动态测试表明，即使在60厘米以上的长度上，肌肉的反应迅速，收缩为0.03 s，比串联袋电动机快的数量级。疲劳测试表明其寿命超过100,000个周期。我们还证明，肌肉非常适合转向延伸的机器人，并促使折叠，可部署的结构。我们的肌肉对各种现有的气动人造肌肉进行了改进，为软机器人驱动提供了一个简单的新选择，有可能推进该领域。
Soft robots offer advantages over rigid robots in adaptability, robustness to uncertainty, and human safety. However, realizing soft actuators for these robots is still a challenge. We present a simple, highly conformable pneumatic artificial muscle made of a thin, single layer of woven, bias-cut fabric. The airtight fabric is adhered together with a flexible adhesive, negating the need for a bladder or sewing. Thus, it is foldable when depressurized and behaves like a McKibben muscle when pressurized, but without the friction of a bladder or braided sheath. Experiments show that the muscle exhibits repeatable, near-linear behavior with less than 1% hysteresis, over an order of magnitude less than that of McKibben muscles. Dynamic testing shows that the muscle responds quickly, even at lengths over 60 cm, contracting in 0.03 s, an order of magnitude quicker than series pouch motors. A fatigue test shows that its life exceeds 100,000 cycles. We also demonstrate that the muscle is well suited for steering tip-extending robots, and actuating folding, deployable structures. Our muscle offers improvements over various existing pneumatic artificial muscles, providing a simple new option for soft robotic actuation that has potential to advance the field.