Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation
Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation
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DOI：
10.3390/act11030082
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发表时间：
2022-03
期刊：
影响因子：
2.6
通讯作者：
Emily Duan;M. Bryant
中科院分区：
文献类型：
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作者：
Emily Duan;M. Bryant
本文研究了空间约束条件下羽状拓扑流体人工肌肉束的设计问题。软流体执行器是机器人学家和工程师的极大兴趣，由于其固有的顺应性和安全的人机交互的潜力。McKibben流体人工肌肉是一种特别有吸引力的类型的软流体致动器，由于其高的力-重量比，固有的柔性，廉价的结构，和肌肉样的力收缩行为。对天然肌肉的检查表明，具有羽状纤维拓扑结构的那些肌肉可以在单位几何横截面积上实现更高的输出力。然而，这对于流体人造肌肉束并不普遍正确，因为与平行肌肉拓扑相比，单个致动器单元（纤维）的收缩和旋转行为都是促成双羽状肌肉拓扑有利的情况的关键因素。分析了羽状射流人工肌肉束在空间约束条件下羽状角对肌束性能的影响。已经开发出一种根据所需束空间包络尺寸进行肌肉束参数化的方法。对双羽状和平行拓扑结构的致动性能指标的分析表明，与具有相同包络尺寸的平行束相比，双羽状人工肌肉束可以被设计成放大肌肉收缩、输出力、刚度或工作输出能力。除了量化与不同羽状拓扑结构相关的性能交易空间之外，分析具有不同纤维边界条件的束揭示了如何设计双羽状流体人工肌肉束以用于伸展运动和负刚度行为。因此，这项研究，使定制的顺应性致动应用的肌肉束参数。
In this paper, we investigate the design of pennate topology fluidic artificial muscle bundles under spatial constraints. Soft fluidic actuators are of great interest to roboticists and engineers, due to their potential for inherent compliance and safe human–robot interaction. McKibben fluidic artificial muscles are an especially attractive type of soft fluidic actuator, due to their high force-to-weight ratio, inherent flexibility, inexpensive construction, and muscle-like force-contraction behavior. The examination of natural muscles has shown that those with pennate fiber topology can achieve higher output force per geometric cross-sectional area. Yet, this is not universally true for fluidic artificial muscle bundles, because the contraction and rotation behavior of individual actuator units (fibers) are both key factors contributing to situations where bipennate muscle topologies are advantageous, as compared to parallel muscle topologies. This paper analytically explores the implications of pennation angle on pennate fluidic artificial muscle bundle performance with spatial bounds. A method for muscle bundle parameterization as a function of desired bundle spatial envelope dimensions has been developed. An analysis of actuation performance metrics for bipennate and parallel topologies shows that bipennate artificial muscle bundles can be designed to amplify the muscle contraction, output force, stiffness, or work output capacity, as compared to a parallel bundle with the same envelope dimensions. In addition to quantifying the performance trade space associated with different pennate topologies, analyzing bundles with different fiber boundary conditions reveals how bipennate fluidic artificial muscle bundles can be designed for extensile motion and negative stiffness behaviors. This study, therefore, enables tailoring the muscle bundle parameters for custom compliant actuation applications.