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Novel Bending and Helical Extensile/Contractile Pneumatic Artificial Muscles Inspired by Elephant Trunk
- Source :
- Soft Robotics. 7:597-614
- Publication Year :
- 2020
- Publisher :
- Mary Ann Liebert Inc, 2020.
-
Abstract
- Pneumatic artificial muscles (PAMs) are an extensively investigated type of soft actuator. However, the PAM motions have been limited somewhat to uniaxial contraction and extension, restraining the development of PAMs. Given the current strong interest in soft robotics, PAMs have been gaining renewed attention due to their excellent compliance and ease of fabrication. Herein, under the inspiration of the elephant trunk, a family of bending and helical extensile PAMs (HE-PAMs)/helical contractile PAMs (HC-PAMs) was proposed and analyzed. Through both experiment and analysis, a model of generalized bending behavior of PAMs was built and developed to investigate the properties of axial, bending, and helical PAMs in the same theoretical framework. The topological equivalence and bifurcation were found in the analysis and utilized to explain the behaviors of these different PAMs. Meanwhile, a coupled constant curvature and torsion kinematics model was proposed to depict the motion of PAMs more accurately and conveniently. Moreover, a soft tandem manipulator consisting of bending and helical PAMs was proposed to demonstrate their attractive potential.
- Subjects :
- 0209 industrial biotechnology
Materials science
business.industry
Soft actuator
Biophysics
Soft robotics
Equipment Design
Robotics
02 engineering and technology
Structural engineering
Kinematics
021001 nanoscience & nanotechnology
Topological equivalence
Motion
020901 industrial engineering & automation
Pneumatic artificial muscles
Artificial Intelligence
Control and Systems Engineering
Muscle, Skeletal
0210 nano-technology
business
Muscle Contraction
Subjects
Details
- ISSN :
- 21695180 and 21695172
- Volume :
- 7
- Database :
- OpenAIRE
- Journal :
- Soft Robotics
- Accession number :
- edsair.doi.dedup.....abd070a07823abad6cecb527b58157d4