Electric-Pneumatic Actuator: A New Muscle for Locomotion
Electric-Pneumatic Actuator: A New Muscle for Locomotion
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DOI：
10.3390/act6040030
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发表时间：
2017-12-01
期刊：
影响因子：
2.6
通讯作者：
Seyfarth, Andre
中科院分区：
文献类型：
--
作者：
Ahmad Sharbafi, Maziar;Shin, Hirofumi;Seyfarth, Andre
更好地理解执行器设计如何支持运动功能，可能有助于开发新的、功能更强大的助力设备或机器人腿部系统。腿机器人包括被动部件(例如，节段、关节和连接)，它们由致动器以协调的方式移动。在这项研究中，我们提出了一种新的概念，即电-气混合执行器(EPA)作为增强型变阻抗执行器(VIA)。EPA由气动人工肌肉(PAM)和电动马达(EM)组成。与其他VIA相比，EPA内的气动人工肌肉(PAM)不仅提供了适应性强的柔顺性，而且还提供了一个额外的具有类似肌肉特性的强大执行器，该执行器可以以不同的组合(例如，串联或并联)布置到EM。这种新型混合执行器兼有两种集成执行器类型的优点，即结合了EM的精确控制和PAM的顺应性能量存储，这是高效和可调运动所必需的。基于新的PAM动态模型的实验和仿真结果支持这样的假设，即两个执行器的组合可以在不显著增加控制复杂性和重量的情况下提高效率(能量和峰值功率)和性能。最后，在EPA自适应的两足机器人(BioBied3机器人的膝关节)上的实验表明，在不同的频率下，驱动器的效率得到了提高。
A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) and an electric motor (EM). In contrast to other VIAs, the pneumatic artificial muscle (PAM) within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel) to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power) and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot) show improved efficiency of the actuator at different frequencies.