Developing a Novel Robotic Fish With Antagonistic Artificial Muscle Actuators

2017 ◽  
Author(s):  
Sunil Kumar Rajendran ◽  
Feitian Zhang
Keyword(s):  
Heat Dissipation ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Robotic Fish ◽  
Artificial Muscles ◽  
Underwater Robotics ◽  
Closed Loop System ◽  
Underwater Robots ◽  
Muscle Actuators ◽  
Novel Design

Super-coiled polymer (SCP), one of the newly-developed artificial muscles, has various advantages over traditional artificial muscles in terms of cost, flexibility and power-to-weight ratio. This paper investigates the performance of super-coiled polymer-based actuation in underwater robotics, and presents a novel design of robotic fish using antagonistic SCP actuators. Dynamic model of the robot is derived. An example robotic fish prototype is developed and used in experiments to study SCP actuation for underwater robots. Furthermore, experimental results show that using SCP actuators in robotic fish solves the challenging heat-dissipation problem at ease, thus improving the dynamic response of SCP actuation significantly. A PID controller is designed to regulate the tail flap angle of the designed robotic fish. Simulation results of the closed-loop system are presented to validate the proposed robot design and actuation approach.

Artificial Muscle Actuators for a Robotic Fish

2013 ◽  
pp. 350-352 ◽  
Author(s):  
Iain A. Anderson ◽  
Milan Kelch ◽  
Shumeng Sun ◽  
Casey Jowers ◽  
Daniel Xu ◽  
...  
Keyword(s):  
Artificial Muscle ◽  
Robotic Fish ◽  
Muscle Actuators

Theoretical Modeling, Analysis, and Experimental Results of a Hydraulic Artificial Muscle Prototype

2019 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Mark L. Nagurka
Keyword(s):  
Muscle Mechanics ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Theoretical Modeling ◽  
Experimental Results ◽  
Artificial Muscles ◽  
Mobile Manipulation ◽  
Modeling Analysis ◽  
Potential Applications ◽  
High Internal Pressure

Abstract Fluidic braided artificial muscles have been studied for close to seventy years. Their high power-to-weight ratio and force-to-weight ratio make them a desirable actuation technology for compact and lightweight mobile manipulation. Use of hydraulics with fluidic artificial muscles has helped realize high actuation forces with new potential applications. To achieve large actuation forces produced from high internal pressure, artificial muscles operate near the limitations of their mechanical strength. Design improvements and future applications in mechanical systems will benefit from detailed theoretical analysis of the fluidic artificial muscle mechanics. This paper presents the theoretical modeling of a hydraulic artificial muscle, analysis of its mechanics, and experimental results that validate the model. A prototype is analyzed that operates at 14 MPa and can generate up to 6.3 kN of force and a displacement of 21.5 mm. This model promises to be useful for mechanical system design and model-based control.

Magnetically-doped polydimethylsiloxane for artificial muscle applications

2019 ◽  
Vol 13 (01) ◽  
pp. 1950089
Author(s):  
Erik Ventura ◽  
Cagri Oztan ◽  
Diego Palacios ◽  
Irene Isabel Vargas ◽  
Emrah Celik
Keyword(s):  
Additive Manufacturing ◽  
Mechanical Response ◽  
Load Capacity ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Test Results ◽  
Method Of Production ◽  
Muscle Actuators ◽  
Doped Polymer

Artificial muscle actuators demonstrate great potential for improving the quality of life. Recently, polymer muscle actuators have attracted attention due to their inexpensive and highly versatile methods of fabrication along with decent mechanical properties that can mimic those of natural muscles. The aim of this research is to investigate the usability of a magnetite-doped polymer powder, polydimethylsiloxane (PDMS), for artificial muscle actuators through an inexpensive method of production. PDMS samples doped with different levels of magnetite were fabricated using molds that were produced by additive manufacturing. Subsequently, the samples were magnetically and mechanically characterized by investigation of strength, elastic modulus, failure strain and permittivity, which are vital to meet the load capacity. The test results demonstrated that the mechanical and magnetic properties could be tailored as a function of doping level. Matching the mechanical response of these artificial components to those of artificial muscles will reduce the residual stresses, enhance the artificial muscle life and allow wider use of these materials for biomedical applications. This research rendered fabrication of molds possible for various applications where geometric customization of the actuator is required to meet endure severe loads, thanks to the freeform nature of additive manufacturing.

Development of Semi-Crouching Assistive Device Using Pneumatic Artificial Muscle

2020 ◽  
Vol 32 (5) ◽  
pp. 885-893
Author(s):  
Naoki Saito ◽  
Daisuke Furukawa ◽  
Toshiyuki Satoh ◽  
Norihiko Saga ◽  
◽  
...  
Keyword(s):  
Weight Ratio ◽  
Artificial Muscle ◽  
Assistive Device ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Contraction Force ◽  
Lower Back ◽  
Pneumatic Artificial Muscles ◽  
Compressive Pressure ◽  
Analytical Result

This paper describes a semi-crouching assistive device using pneumatic artificial muscles. The goal of this device is to reduce the load on the lower back when performing work in the semi-crouching position. The load on the lower back is reduced by decreasing the compressive pressure on the lumbar disk of the lower back. This compressive pressure increases as the contraction force of the erector spine increases. Therefore, it is important to reduce the muscle activity of the erector spine. Based on the analytical result of a worker’s position model, the proposed device adopts a scheme to push the chest of the user as an appropriate assistive method. Additionally, the analytical result shows that a reduction in weight of the device is also important for decreasing the load on the lower back. Based on these results, we prototyped a lightweight semi-crouching assistive device that can generate sufficient assistive force via a pneumatic artificial muscle, which has high power to weight ratio. This device was experimentally evaluated via electromyogram of the erector spine when the user maintains a semi-crouching position. The experimental results confirmed the usefulness of this device.

scholarly journals Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Yunhao Feng ◽  
Tohru Ide ◽  
Hiroyuki Nabae ◽  
Gen Endo ◽  
Ryo Sakurai ◽  
...  
Keyword(s):  
Control Strategy ◽  
Impedance Control ◽  
Artificial Muscle ◽  
Dynamic Compliance ◽  
Artificial Muscles ◽  
Soft Robot ◽  
Compliant Structure ◽  
Safety Features ◽  
Muscle Actuators ◽  
Sudden Load

AbstractPower soft robots—defined as novel robots driven by powerful soft actuators, achieving both powerfulness and softness—are potentially suitable for complex collaborative tasks, and an approach to actuating a power soft robot is the McKibben artificial muscle. This study aims to show the potential of hydraulic artificial muscles to be implemented in a power soft robot with high safety, including higher stability against sudden load separation or impact disturbance, and appropriate dynamic compliance. The stability of a manipulator arm driven by hydraulic muscle actuators is experimentally proven to be higher than that of pneumatic muscle actuators when the stored elastic energy is instantaneously released. Therefore, the hydraulic muscle actuator is a better candidate for actuating a power soft robot. By taking advantage of the incompressible liquid medium and the compliant structure of a hydraulic muscle, a second-order impedance control strategy with a braking method is proposed to improve dynamic compliance without sacrificing the safety features of hydraulic muscles. The results show that the manipulator can be easily shifted by a several-kilogram-level external force and react safely against sudden load change with low angular velocity by the proposed impedance control.

Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

1998 ◽  
Vol 122 (2) ◽  
pp. 386-388 ◽  
Author(s):  
Glenn K. Klute ◽  
Blake Hannaford
Keyword(s):  
Energy Storage ◽  
Mobile Robots ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Number Of Factors ◽  
Output Force ◽  
Wide Range ◽  
The Disabled ◽  
Muscle Actuators ◽  
Very High

The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. In this paper, we present a model that includes a nonlinear, Mooney–Rivlin mathematical description of the actuator’s internal bladder. Experimental results show that the model provides improvement in the ability to predict the actuator’s output force. However, a discrepancy between model and experiment, albeit smaller than previous models, still exists. A number of factors are identified that may be responsible for this discrepancy. [S0022-0434(00)00902-3]

scholarly journals Position/force control of master–slave antagonistic joint actuated by water hydraulic artificial muscles

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985398
Author(s):  
Dayong Ning ◽  
Jinkai Che ◽  
Zengmeng Zhang ◽  
Hao Tian ◽  
Jiaoyi Hou ◽  
...  
Keyword(s):  
Rotation Angle ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Force Transducer ◽  
Torque Control ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Water Hydraulic

Because of the high force–weight ratio of water hydraulic artificial muscle and its high compatibility with an underwater environment, the water hydraulic artificial muscle has received increasing attention due to its potential uses in marine engineering applications. The master–slave anthropopathic joint actuated by water hydraulic artificial muscles is light and small, and it has good maneuverability for underwater manipulators. However, the control methodologies for water hydraulic artificial muscle joint have not been thoroughly explored to date. This article introduces a master–slave control system of isomorphic artificial muscle joints. The water hydraulic artificial muscle joint acts as a slave joint working under the sea, and the pneumatic artificial muscle joint acts as a master joint that is operated by people. The rotation angle signal of the pneumatic artificial muscle joint is fed back as the input to regulate the rotation angle of the water hydraulic artificial muscle joint through a proportional–integral–derivative control. Meanwhile, the torque of the pneumatic artificial muscle joint is controlled by a proportional–integral–derivative controller based on the feedback of a two-force-transducer system in the water hydraulic artificial muscle joint as input. Therefore, the operator can control the movement and feel the load of the water hydraulic artificial muscle slave joint. Master–slave control experiments were performed, and the position/torque control results were analyzed using various loads and torque gains. This study contributes to the design and control of an anthropopathic underwater manipulator.

scholarly journals Pneumatic Artificial Muscles Based on Biomechanical Characteristics of Human Muscles

2006 ◽  
Vol 3 (3) ◽  
pp. 191-197 ◽  
Author(s):  
N. Saga ◽  
J. Nagase ◽  
T. Saikawa
Keyword(s):  
Weight Ratio ◽  
Artificial Muscle ◽  
Human Muscle ◽  
Wearable Device ◽  
Artificial Muscles ◽  
Rehabilitation Robot ◽  
Contraction Rate ◽  
Highly Nonlinear ◽  
Pneumatic Artificial Muscles ◽  
Human Muscles

This article reports the pneumatic artificial muscles based on biomechanical characteristics of human muscles. A wearable device and a rehabilitation robot that assist a human muscle should have characteristics similar to those of human muscle. In addition, since the wearable device and the rehabilitation robot should be light, an actuator with a high power to weight ratio is needed. At present, the McKibben type is widely used as an artificial muscle, but in fact its physical model is highly nonlinear. Therefore, an artificial muscle actuator has been developed in which high-strength carbon fibres have been built into the silicone tube. However, its contraction rate is smaller than the actual biological muscles. On the other hand, if an artificial muscle that contracts axially is installed in a robot as compactly as the robot hand, big installing space is required. Therefore, an artificial muscle with a high contraction rate and a tendon-driven system as a compact actuator were developed, respectively. In this study, we report on the basic structure and basic characteristics of two types of actuators.

Energetic and Dynamic Effects of Operating Fluid on Fluidic Artificial Muscle Actuators

2013 ◽  
Author(s):  
Michael A. Meller ◽  
Matthew J. Bryant ◽  
Ephrahim Garcia
Keyword(s):  
Artificial Muscle ◽  
Working Fluid ◽  
Artificial Muscles ◽  
Dynamic Tests ◽  
Pneumatic Artificial Muscles ◽  
Vibration Experiment ◽  
Strain Relationship ◽  
Effective Spring Constant ◽  
Muscle Actuators ◽  
Hydraulic Operation

Pneumatic artificial muscles (PAMs) are a relatively common type of lightweight, fluid power actuation. Some disadvantages of PAMs include the compressibility of the working fluid and low damping. These characteristics result in low efficiencies, poor dynamic response, as well as undesired oscillations of the actuators. This paper presents utilizing hydraulic liquid as the working fluid instead of compressed air. Hydraulic operation resulted in almost triple the efficiency of pneumatic operation. The artificial muscles are experimentally characterized both quasi-statically and dynamically. The quasi-static experiments include the tension-strain relationship as a function of pressure, and an actuator net work efficiency analysis. The dynamic tests consist of a free vibration experiment to determine the change in effective spring constant and damping terms. These experiments are conducted for both PAMs and HAMs (hydraulic artificial muscles), and the results are presented herein.

scholarly journals Thermally stimulated artificial muscles: Bio-inspired approach to reduce thermal deformation of ball screws based on inner-embedded CFRP

2021 ◽  
Vol 60 (1) ◽  
pp. 541-552
Author(s):  
Xiangsheng Gao ◽  
Kuan Zhang ◽  
Min Wang ◽  
Tao Zan ◽  
Jiajun Luo
Keyword(s):  
Machine Tools ◽  
Thermal Deformation ◽  
Simulation Analysis ◽  
Artificial Muscle ◽  
Ball Screw ◽  
Artificial Muscles ◽  
The Novel ◽  
Positional Accuracy ◽  
Reinforced Plastic ◽  
Novel Design

Abstract Ball screws are the indispensable machine tool components and, as such, influence the positional accuracy of machine tools. The accuracy stability of machine tools is affected by thermal deformation of ball screws resulting from the increase in temperature. Inspired by the distinctive artificial muscle heat behavior, a bio-inspired ball screw was proposed. The proposed ball screw was based on the inner-embedded carbon fiber-reinforced plastic (CFRP), which restrains the axial expansion through the thermal contraction of CFRP. Additionally, a thermal conductor was mounted between the screw shaft and CFRP to improve the thermal conduction condition. Furthermore, both the simulation analysis and comparative experiments were carried out to compare the bio-inspired ball screw with the standard one. Two working conditions were considered to evaluate the effectiveness of the novel design, primarily in terms of reducing thermal deformation. Both results show that the proposed approach is effective and can be applied to reduce the thermal deformation of ball screws.

Sign in / Sign up

Export Citation Format

Share Document