...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Smart Materials & Structures >Design of flat pneumatic artificial muscles
【24h】

Design of flat pneumatic artificial muscles

机译：扁平气动人工肌肉设计

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Pneumatic artificial muscles (PAMs) have gained wide use in the field of robotics due to their ability to generate linear forces and motions with a simple mechanism, while remaining lightweight and compact. However, PAMs are limited by their traditional cylindrical form factors, which must increase radially to improve contraction force generation. Additionally, this form factor results in overly complicated fabrication processes when embedded fibers and sensor elements are required to provide efficient actuation and control of the PAMs while minimizing the bulkiness of the overall robotic system. In order to overcome these limitations, a flat two-dimensional PAM capable of being fabricated using a simple layered manufacturing process was created. Furthermore, a theoretical model was developed using Von Karman's formulation for large deformations and the energy methods. Experimental characterizations of two different types of PAMs, a single-cell unit and a multi-cell unit, were performed to measure the maximum contraction lengths and forces at input pressures ranging from 0 to 150 kPa. Experimental data were then used to verify the fidelity of the theoretical model.
机译：由于能够产生带有简单机制的线性力和运动，气动人工肌肉（PAM）在机器人领域获得了广泛的用途，同时剩下轻质和紧凑。然而，PAMS受到传统圆柱形因素的限制，必须径向增加以改善收缩力产生。另外，这种形式因子在需要嵌入的纤维和传感器元件时导致过度复杂的制造过程，以便在最小化整个机器人系统的膨胀的同时提供有效的致动和控制。为了克服这些限制，产生能够使用简单的层状制造工艺制造的扁平二维PAM。此外，使用Von Karman的配方开发了理论模型，用于大变形和能量方法。进行两种不同类型的PAM，单电池单元和多电池单元的实验表征，以测量从0到150kPa的输入压力的最大收缩长度和力。然后使用实验数据来验证理论模型的保真度。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号