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The Chain-Link Actuator: Exploiting the Bending Stiffness of McKibben Artificial Muscles to Achieve Larger Contraction Ratios

Bruder, Daniel ; Wood, Robert J.

IEEE robotics and automation letters, 2022-01, Vol.7 (1), p.542-548 [Periódico revisado por pares]

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Título:
The Chain-Link Actuator: Exploiting the Bending Stiffness of McKibben Artificial Muscles to Achieve Larger Contraction Ratios
Autor: Bruder, Daniel ; Wood, Robert J.
Assuntos: Actuation ; Actuators ; Artificial muscles ; Bending ; Biomimetics ; Bladder ; Chains ; Cybernetics, Artificial Intelligence And Robotics ; Force ; Muscles ; Pneumatic actuator ; Shape ; Sheaths ; soft robotics ; Static models ; Stiffness ; Strain
É parte de: IEEE robotics and automation letters, 2022-01, Vol.7 (1), p.542-548
Notas: 2230 Support
2230
Descrição: McKibben artificial muscles, comprised of an expandable bladder wrapped in a double-helix-braided sheath, have the ability to generate forces without restricting motion to occur exclusively along the direction of actuation. This makes them attractive for a variety of applications including soft, wearable, and biomimetic robots. Despite their advantages, the theoretical maximum contraction ratio of McKibben muscles is only 36.3%, which restricts the range of motion of the systems they actuate. This work introduces a novel 'chain-link actuator' that exploits the bending stiffness of McKibben muscles to achieve contraction ratios of more than 50%. A static model that captures the relationship between pressure, displacement, and force is presented and validated on several real chain-link actuator systems.
Editor: 2230 Support: IEEE
Idioma: Inglês

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