Efficient structure-based models for the McKibben contraction pneumatic muscle actuator : the full description of the behaviour of the contraction PMA
Efficient structure-based models for the McKibben contraction pneumatic muscle actuator : the full description of the behaviour of the contraction PMA
复制标题
McKibben 收缩气动肌肉执行器的基于结构的高效模型：收缩 PMA 行为的完整描述
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
S. Davis
中科院分区：
文献类型：
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作者：
A. Al;S. Nefti;S. Davis
为了阐明在生活的各个方面使用软机器人的优势，必须知道气动肌肉执行器（PMA）的有效行为。在这项工作中，PMA的性能进行了解释和建模与三个公式。第一个公式描述了基于结构参数的致动器的拉力;此外，所提出的公式是全气动肌肉致动器的广义收缩力。第二个重要的模型是长度公式，这是修改我们以前的工作，以适应不同的致动器结构。基于这两个模型，推导了执行器的刚度公式，以说明其在不同气压下的变化。此外，这些公式将使选择适当的致动器的任何机器人手臂结构更容易使用的知识，从他们的性能。另一方面，这种类型的致动器的期望行为将被预定义和控制。
To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.