Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle
Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle
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DOI：
10.1109/tro.2009.2032959
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发表时间：
2009-12-01
影响因子：
7.8
通讯作者：
Munro, Michael
中科院分区：
文献类型：
--
作者：
Doumit, Marc;Fahim, Atef;Munro, Michael
研究文献中报道的编织气动肌肉（BPM）的静态模型相当准确地预测了肌肉的力承载能力。然而，这些模型依赖于实验确定的参数，这些参数仅对所考虑的特定肌肉配置有效。本文提出了一个完全解析的BPM静态模型，不依赖于实验确定的参数。所提出的方法是基于牛顿力学，认为肌肉的机械和几何特性。不同的是，本文包括肌肉末端固定直径的影响。从开发的模型的结果进行了比较，已从原型BPM的实验。
Static models of braided pneumatic muscles (BPMs) reported in the research literature fairly accurately predict the muscle-force-carrying capacity. These models, however, rely on experimentally determined parameters that are valid only for the specific muscle configuration under consideration. This paper presents a fully analytical BPM static model that does not depend on experimentally determined parameters. The proposed approach is based on Newtonian mechanics that considers the mechanical and the geometrical properties of the muscle. Distinctively, this paper includes the muscle end-fixture-diameter effect. Results from the developed model are compared with the experimental ones that have been obtained from prototype BPMs.