The effect of resistive forces in variable recruitment fluidic artificial muscle bundles: a configuration study
The effect of resistive forces in variable recruitment fluidic artificial muscle bundles: a configuration study
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可变募集流体人工肌束中阻力的影响：配置研究
DOI：
10.1117/12.2557907
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Bryant, Matthew
中科院分区：
文献类型：
--
作者：
Mazzoleni, Nicholas;Kim, Jeong Yong;Bryant, Matthew
柔性致动器作为一种潜在的改善人机交互兼容性的方法，最近得到了研究人员的关注。流体式人工肌肉，或称McKibben执行器，因其低成本和高力重比而成为一类受欢迎的软执行器。然而，传统的McKibben执行器面临效率问题，因为在大多数执行方案中，执行器的大小适合最大可能的负载，从而导致在较低的作用力范围内操作时的能量损失。为了解决这个问题，我们团队开发了一种生物启发的激励策略，称为可变招聘。在可变招募中，执行器被放置在束中，并可以根据所需的负载顺序激活。这一策略模仿了哺乳动物肌肉组织的分层结构，在允许可变僵硬特性的同时提高了系统效率和带宽。以前的可变招募模型和控制器假设每个执行器的力输出是独立的，并且这些力的总和提供总的束力。然而，我们最近的工作表明，在一个束内的执行器之间存在显著的相互作用，特别是在较低的招募状态下。这是因为在这些状态下，非激活或部分激活的致动器抵抗束状运动并减少总作用力的产生。在本文中，我们通过考虑两种不同的可变招募构型来研究低招募状态下的这些阻力效应：固定端构型(具有阻力)和肌腱构型(用肌腱设计以消除阻力)。然后，我们评估两种配置之间的权衡。我们发现，虽然使用腱结构消除了阻力，但如果我们考虑系统总长度相同的两种结构，腱结构的整体系统自由应变较小，因为其FAM必须比固定端配置的短。然而，尽管自由应变的差异，我们的结果仍然表明，肌腱配置可以具有比固定端配置更高的最大承载能力和效率，并且特定的应用和系统要求将决定适当的配置选择。
The use of soft, compliant actuators has recently gained research attention as a potential approach to improve human-robot interaction compatibility. Fluidic artificial muscles, or McKibben actuators, are a popular class of soft actuator due to their low cost and high force-to-weight ratio. However, traditional McKibben actuators face efficiency problems, as in most actuation schemes, the actuator is sized for the largest possible load, resulting in energy loss when operating at lower force regimes. To address this issue, our group has developed a bio-inspired actuation strategy called variable recruitment. In variable recruitment, actuators are placed within a bundle and can be sequentially activated depending on the required load. This strategy mimics the hierarchical architecture of mammalian muscle tissue and improves system efficiency and bandwidth while allowing for variable stiffness properties. Previous variable recruitment models and controllers assume that the force output of each actuator is independent and that these forces sum to provide the total bundle force. However, our recent work has shown that there is significant interaction between actuators within a bundle, particularly at lower recruitment states. This is because at these states, inactive or partially activated actuators resist bundle motion and reduce total force production. In this paper, we study these resistive effects at low recruitment states by considering two different variable recruitment configurations: a fixed-end configuration (with resistive forces) and a tendon configuration (designed with tendons to eliminate resistive forces). We then assess the tradeoffs between the two configurations. We found that while using the tendon configuration eliminates resistive forces, if we consider both configurations with the same overall system length, the tendon configuration has less overall system free strain because its FAMs have to be shorter than those of the fixed-end configuration. However, despite this difference in free strain, our results still show that the tendon configuration can have higher maximum load capacity and efficiency than the fixed-end configuration and that the specific application and system requirements will dictate the proper configuration choice.
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期刊：
影响因子：
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DOI：
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发表时间：
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期刊：
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DOI：
--
发表时间：
2020
期刊：
A Conference and Exposition on Structural Dynamics 2020
影响因子：
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作者：
Kim, Jeong Yong;Mazzoleni, Nicholas;Bryant, Matthew
通讯作者：
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影响因子：
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