Design of thin McKibben muscle and multifilament structure
Design of thin McKibben muscle and multifilament structure
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DOI：
10.1016/j.sna.2017.04.047
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发表时间：
2017-07-01
影响因子：
4.6
通讯作者：
Suzumori, Koichi
中科院分区：
文献类型：
--
作者：
Kurumaya, Shunichi;Nabae, Hiroyuki;Suzumori, Koichi
目前的McKibben肌肉直径通常为10-40 mm，这使得它们在收缩期间非常僵硬并且难以变形，从而使它们不适合在小空间中具有形状适应性的密集安装。在这项研究中，为了解决这些问题，我们的团队开发了迄今为止报道的最薄的McKibben肌肉。将肌肉束在所需的形状和灵活性的多丝肌肉的结果。本文报道了薄麦吉本肌和多丝肌的设计及其静态特性。此外，我们还提出了两个多丝肌的理论模型，并推导出它们的理论特征。通过实验和建模评估了不同设计参数的多丝肌的静态特性。结果，理论和实验都证明了多丝肌的收缩率比单丝肌的收缩率大。(C)2017爱思唯尔B. V.保留所有权利。
Current McKibben muscles are usually 10-40 mm in diameter, which makes them very stiff during contraction and difficult to deform rendering them unsuitable for dense mounting with shape adaptability in small spaces. In this research, to solve these problems, our group has developed the thinnest McKibben muscle reported until now. Bundling the muscles results in a multifilament muscle of the desired shape and flexibility. This paper reports the design of the thin McKibben muscle and the multifilament muscle and their static characteristics. In addition, we propose two theoretical models of multifilament muscles and derive their theoretical characteristics. The static characteristics of multifilament muscles with various design parameters have been evaluated through experiments and modeling. As a result, the greater contraction ratio of the multifilament muscles compared to that of the single muscle was demonstrated both theoretically and experimentally. (C) 2017 Elsevier B.V. All rights reserved.