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首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Third-Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle
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Third-Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle

机译：用于机器人的第三代褶式气动人工肌肉：与McKibben肌肉的开发和比较

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摘要

This paper introduces the third generation of Pleated Pneumatic Artificial Muscles (PPAM), which has been developed to simplify the production over the first and second prototype. This type of artificial muscle was developed to overcome dry friction and material deformation, which is present in the widely used McKibben muscle. The essence of the PPAM is its pleated membrane structure which enables the muscle to work at low pressures and at large contractions. In order to validate the new PPAM generation, it has been compared with the mathematical model and the previous generation. The new production process and the use of new materials introduce improvements such as 55% reduction in the actuator's weight, a higher reliability, a 75% reduction in the production time and PPAMs can now be produced in all sizes from 4 to 50 cm. This opens the possibility to commercialize this type of muscles so others can implement it. Furthermore, a comparison with experiments between PPAM and Festo McKibben muscles is discussed. Small PPAMs present similar force ranges and larger contractions than commercially available McKibben-like muscles. The use of series arrangements of PPAMs allows for large strokes and relatively small diameters at the same time and, since PPAM 3.0 is much more lightweight than the commong McKibben models made by Festo, it presents better force-to-mass and energy to mass ratios than Festo models.
机译：本文介绍了第三代褶式气动人工肌肉（PPAM），它是为简化第一代和第二代原型的生产而开发的。开发这种类型的人造肌肉是为了克服广泛使用的McKibben肌肉中存在的干摩擦和材料变形。 PPAM的本质是其褶膜结构，可使肌肉在低压和大收缩情况下工作。为了验证新一代PPAM，已将其与数学模型和上一代进行了比较。新的生产工艺和新材料的使用带来了一些改进，例如减少了55％的执行器重量，更高的可靠性，缩短了75％的生产时间，现在可以生产4至50 cm的各种尺寸的PPAM。这为将这种肌肉商品化提供了可能，以便其他人可以实施。此外，还讨论了PPAM和Festo McKibben肌肉之间的实验比较。与商用McKibben样肌肉相比，小型PPAM具有相似的作用力范围和更大的收缩力。使用PPAM的串联装置可同时实现较大的行程和相对较小的直径，并且由于PPAM 3.0的重量比Festo制造的commong McKibben模型轻得多，因此它具有更好的力质量比和能量质量比比Festo车型好。

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