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首页> 外文期刊>International Journal of Solids and Structures >A mechanical model for McKibben pneumatic artificial muscles based on limiting chain extensibility and 3D application of the network alteration theories
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A mechanical model for McKibben pneumatic artificial muscles based on limiting chain extensibility and 3D application of the network alteration theories

机译：基于限制链可扩展性的Mckben气动人工肌肉力学模型及网络改造理论的3D应用

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摘要

Pneumatic Artificial Muscles (PAMs) mimic the behavior of skeletal muscles by generating contractile force when they are pressurized. Stiffness of these actuators depends on the applied pressure because the inner elastomeric tube exhibits non-linear mechanical behavior which also makes control of the actuator difficult. Therefore, it is crucial to obtain a precise mechanical model for these actuators. In this work, based on the theory of limiting chain extensibility, a new continuum mechanics-based model is developed for elastomeric McKibben PAMs to predict stiffness and output parameters such as free contraction, blocked force, and dead-band pressure during the actuation course. The developed model is consistent with network alternation theories, which allow predicting the softening observed in first cycles of inflation-deflation (Mullins effect). The established relations can predict variations of the actuation force due to the alternation of the material network parameters as a result of Mullins softening. In order to determine the material parameters of the bladder, uniaxial tensile tests have been conducted on a virgin silicon rubber. Cyclic tests have also been conducted on the fabricated PAMs in virgin and completely softened states to obtain their characteristic curves. It is concluded that, fractional evolution laws can be well combined with the developed model to predict the behavior of PAMs during cyclic deformations. It is observed that, even for contractions less than 25%, the maximum principal stretch in a PAM can exceed three which implies that, simple strain energy functions such as NeoHookean and Mooney-Rivlin should not be employed for PAMs. It is also concluded that, the Mullins softening increases the free contraction while makes no remarkable effect on the blocked force. (C) 2020 Elsevier Ltd. All rights reserved.
机译：气动人工肌肉（PAMS）模仿骨骼肌的行为通过在加压时产生收缩力。这些致动器的刚度取决于施加的压力，因为内弹性管表现出非线性机械行为，这也使得控制致动器的控制困难。因此，对于这些执行器来获得精确的机械模型至关重要。在这项工作中，基于限制链可扩展性的理论，开发了一种新的基于连续的基于力学的模型，用于预测致动过程中的刚度和输出参数，例如自由收缩，阻挡力和死区压力。开发的模型与网络交替理论一致，其允许预测在第一循环通胀通道（Mullins效应）中观察到的软化。由于Mullins软化，所建立的关系可以预测由于材料网络参数的交替而导致的致动力的变化。为了确定膀胱的材料参数，已经在原始硅橡胶上进行了单轴拉伸试验。还在处女的制造的PAM上进行循环试验，并完全软化状态以获得其特征曲线。得出结论是，分数演化法可以很好地结合开发的模型来预测循环变形期间PAM的行为。观察到，即使对于小于25％的收缩，PAM中的最大主要延伸也可能超过三个，这意味着，不应使用简单的应变能量函数，例如Neohookean和Mooney-rivlin。还结论，穆林斯软化增加了自由收缩，同时对阻塞力没有显着影响。 （c）2020 elestvier有限公司保留所有权利。

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