Kinematics of a Generalized Class of Pneumatic Artificial Muscles
Kinematics of a Generalized Class of Pneumatic Artificial Muscles
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DOI：
10.1115/1.4029705
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发表时间：
2015-11
期刊：
影响因子：
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通讯作者：
Girish Krishnan;Joshua Bishop-Moser;Charles J. Kim;S. Kota
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文献类型：
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作者：
Girish Krishnan;Joshua Bishop-Moser;Charles J. Kim;S. Kota
流体填充纤维增强弹性体外壳（FREE）由于其高功率密度和成本效益的制造，已成为假肢和软机器人中致动器的流行选择。虽然被称为McKibben致动器的一类狭窄的自由电子元件已被广泛研究，但还有一个广泛的未探索的类别可能被用作致动器和软结构构件。本文分析了广义自由电子元件的流动性的基础上简单的几何关系，导致从不可扩展的纤维和流体驱动。所进行的分析可以分为瞬时运动学和全局或大变形运动学。瞬时运动学表明，最普遍的变形模式的自由是一个螺旋运动的轴，其间距是一个功能的纤维取向的圆柱体。此外，一组纤维的角度，不变形的体积驱动下被确定为锁定歧管（LM）。全局运动学分析表明，每个自由继续变形，直到其纤维配置接近LM。这些见解得到了证实与有限元分析（FEA）和测试的一个小样本的自由执行器。
Fluid filled fiber reinforced elastomeric enclosures (FREEs) have been a popular choice for actuators in prosthetics and soft robots owing to their high power density and cost effective manufacturing. While a narrow class of FREEs known as McKibben's actuators have been extensively studied, there is a wide unexplored class that could be potentially used as actuators and soft structural members. This paper analyzes the mobility of generalized FREEs based on simple geometric relationships that result from the inextensibility of fibers and fluidic actuation. The analysis conducted can be classified into instantaneous kinematics and global or large deformation kinematics. Instantaneous kinematics reveals that the most general deformation pattern of the FREE is a screw motion about the axis of its cylinder, whose pitch is a function of fiber orientations. Furthermore, a set of fiber angles, which do not deform under volumetric actuation were identified as the locked manifold (LM). Global kinematic analysis revealed that every FREE continued to deform until its fiber configuration approached the LM. These insights were corroborated with finite element analysis (FEA) and testing for a small sample of FREE actuators.