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首页> 外文会议>2018 IEEE International Conference on Soft Robotics >Prolonging the lifetime of straight-fiber-type pneumatic rubber artificial muscle by shape consideration and material development
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Prolonging the lifetime of straight-fiber-type pneumatic rubber artificial muscle by shape consideration and material development

机译：通过考虑形状和材料开发来延长直纤维型充气橡胶人造肌肉的寿命

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摘要

A pneumatic artificial muscle is an air pressure-activated rubber actuator. It is lightweight and high in power density compared to motorized actuators and fluid-powered cylinders. In addition, it shows high compatibility with the human body because it has good flexibility. The authors have developed a straight-fiber-type pneumatic artificial muscle (SF-ARM) with high output and contraction amounts compared to those of the widely used McKibben-type artificial muscle. Although the fatigue life of the McKibben type has been examined, similar studies have not yet been performed for SF-ARM. In this study, the extension of the lifetime of SF-ARM, development of high-deformation rubber material, and examination of the SF-ARM aspect ratio were performed. First, from deformation analysis by the finite element method, the target elongation value of the rubber material was determined and a suitable material was developed. Next, the fatigue life and contraction characteristics were measured by reducing the strain of the rubber material by changing the aspect ratio. The results showed a relationship between the lifetime and the shape of the artificial muscle. We demonstrate that the relationship between the lifetime and contraction force and ratio, according to the application, can be selected by manipulating the shape and the size of the SF-ARM.
机译：气动人造肌肉是气压激活的橡胶致动器。与电动执行器和液压缸相比，它重量轻且功率密度高。另外，由于其具有良好的柔韧性，因此显示出与人体的高度相容性。与广泛使用的McKibben型人工肌肉相比，作者开发了一种具有高输出和收缩量的直纤维型气动人工肌肉（SF-ARM）。尽管已经检查了McKibben型疲劳寿命，但对于SF-ARM尚未进行类似的研究。在这项研究中，延长了SF-ARM的寿命，开发了高形变橡胶材料，并检查了SF-ARM的长宽比。首先，通过有限元方法的变形分析，确定橡胶材料的目标伸长率值，并开发出合适的材料。接下来，通过改变纵横比来减小橡胶材料的应变，从而测量疲劳寿命和收缩特性。结果显示了寿命与人造肌肉的形状之间的关系。我们证明，根据应用，可以通过操纵SF-ARM的形状和尺寸来选择寿命与收缩力和比率之间的关系。

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