Optimized design of a rigid kinematic module for antagonistic soft actuation
Optimized design of a rigid kinematic module for antagonistic soft actuation
复制标题
对抗性软驱动刚性运动模块的优化设计
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
C. Onal
中科院分区：
文献类型：
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作者：
Ming Luo;E. Skorina;Weijia Tao;Fuchen Chen;C. Onal
软执行器可用于人类居住的环境，因为他们的适应性顺应性和重量轻。我们之前介绍了一种流体软执行器的变体，我们称之为反向气动人工肌肉（rpm），并开发了一个分析模型来预测其单独和拮抗驱动1自由度旋转关节时的性能。在这里，我们扩展了之前的工作，增加了一个修正项来提高模型性能，并使用它来对运动学模块尺寸进行优化，以最大化可实现的关节角度。我们还提供先进的关节设计，以提高其在这些大角度下的操作能力。新关节的工作空间约为±60°，通过改进的模型可以准确地预测该工作空间。
Soft actuators can be useful in human-occupied environments because of their adaptable compliance and light weight. We previously introduced a variation of fluidic soft actuators we call the reverse pneumatic artificial muscle (rPAM), and developed an analytical model to predict its performance both individually and while driving a 1 degree of freedom revolute joint antagonistically. Here, we expand upon this previous work, adding a correction term to improve model performance and using it to perform optimization on the kinematic module dimensions to maximize achievable joint angles. We also offer advances on the joint design to improve its ability to operate at these larger angles. The new joint had a workspace of around ±60°, which was predicted accurately by the improved model.