In this paper, the development and implementation of a pneumatic muscle actuator is presented in accordance with the idea of a research group at the University of Warsaw. The muscle is made by a silicone rubber tube at the ends of which there are plugs. Inside the wall of the tube high rigidity wires were arranged parallel to the axis of the tube. Outside circular rings are applied. When air is introduced into the tube, the actuator becomes bulky and shortens. In order to have a prediction model of the muscle behavior, a finite elements model was developed in which the Mooney - Rivlin formulation was implemented with two coefficients for rubber simulation and truss elements for the wires. Several prototypes have been made and a test bench for experimental characterization of muscle performance has been set up. The results of the comparison between prototype behavior and model prediction are presented. The finite element model can be used to design different sizes of the same actuator and was used to conduct a simulated test campaign to develop a quick actuator sizing procedure. Using dimensional analysis, few project parameters have been identified that depend on the actuator's performance. Through a complete simulations campaign carried out with the finite element model, an abacus was constructed by means of which, from the desired performances, it is possible to dimension the required actuator according to an established procedure.

Development of a Straight Fibers Pneumatic Muscle

Francesco Durante
;
Michele Gabrio Ernesto Antonelli;Pierluigi Beomonte Zobel;
2018-01-01

Abstract

In this paper, the development and implementation of a pneumatic muscle actuator is presented in accordance with the idea of a research group at the University of Warsaw. The muscle is made by a silicone rubber tube at the ends of which there are plugs. Inside the wall of the tube high rigidity wires were arranged parallel to the axis of the tube. Outside circular rings are applied. When air is introduced into the tube, the actuator becomes bulky and shortens. In order to have a prediction model of the muscle behavior, a finite elements model was developed in which the Mooney - Rivlin formulation was implemented with two coefficients for rubber simulation and truss elements for the wires. Several prototypes have been made and a test bench for experimental characterization of muscle performance has been set up. The results of the comparison between prototype behavior and model prediction are presented. The finite element model can be used to design different sizes of the same actuator and was used to conduct a simulated test campaign to develop a quick actuator sizing procedure. Using dimensional analysis, few project parameters have been identified that depend on the actuator's performance. Through a complete simulations campaign carried out with the finite element model, an abacus was constructed by means of which, from the desired performances, it is possible to dimension the required actuator according to an established procedure.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/123076
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