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Characterization and application of shape-changing panels with embedded rubber muscle actuators

机译：嵌入式橡胶肌肉执行器的变形板的表征与应用

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Cylindrical soft actuators efficiently convert fluid pressure into mechanical energy and thus offer excellent force-to-weight ratios while behaving similar to biological muscle. McKibben-like rubber muscle actuators (RMAs) were embedded into neat elastomer and act as shape-changing panels. The effect of actuator spacing and modeling methods on the performance of these panels was investigated. Simulations from nonlinear finite element models were compared with results from test panels containing four RMAs that were spaced 0, 1/2, 1, and 1.3 RMA diameters apart. Nonlinear 'laminated plate' and 'rod & plate' finite element (FE) models of individual (non-embedded) RMAs and panels with embedded RMAs were developed. Due to model complexity and resource limitations, several simplified 2D and 3D FE model types, including a 3D 'Unit Cell' were created. After subtracting the 'activation pressure' needed to initiate contraction, all the models for the individual actuators produced forces consistent with experimental values, but only the more resource-intensive rod & plate models replicated fiber/braid re-orientation and produced more realistic values for actuator contraction. For panel models, the Full 3D rod & plate model appeared to be the most accurate for panel contraction and force, but was not completed for all configurations due to resource limitations. Most embedded panel FE models produced maximum panel actuator force and maximum contraction when the embedded actuators are spaced between 1/2 and 1 diameter apart. Seven panels with embedded RMAs were experimentally fabricated and tested. Panel tests confirmed that maximum or optimal performance occurs when the RMAs are spaced between 1/2 and 1 diameter apart. The tested actuator force was fairly constant in this range, suggesting that minor design or manufacturing differences may not significantly affect panel performance. However, the amount of axial force and contraction decreases significantly at greater than optimal spacing. This multi-faceted work provides useful design, simulation fabrication, and test characteristics for shape-adaptive panels. Bending panels were demonstrated but not modeled. Developers of future shape-adaptive air vehicles have been provided with additional simulation and design tools.
机译：圆柱形软执行器可以将流体压力有效地转换为机械能，从而在表现出与生物肌肉相似的同时提供出色的力重比。像McKibben一样的橡胶肌肉致动器（RMA）嵌入到纯净的弹性体中，并充当可变形面板。研究了执行器间距和建模方法对这些面板性能的影响。将非线性有限元模型的仿真与包含四个RMA的测试面板的结果进行了比较，四个RMA的直径分别为0、1 / 2、1和1.3 RMA。开发了单个（​​非嵌入式）RMA和带有嵌入式RMA的面板的非线性“层压板”和“杆与板”有限元（FE）模型。由于模型的复杂性和资源的限制，创建了几种简化的2D和3D FE模型类型，包括3D“单位单元”。减去启动收缩所需的“激活压力”后，各个执行器的所有模型产生的力均与实验值一致，但只有资源更为密集的棒板模型才能复制纤维/编织物的重新定向并产生更实际的值。执行器收缩。对于面板模型，Full 3D杆和板模型对于面板的收缩和受力似乎是最准确的，但由于资源限制，并未针对所有配置完成。当嵌入式执行器的直径间隔为1/2和1时，大多数嵌入式面板FE模型产生最大的面板执行器力和最大的收缩力。七个具有嵌入式RMA的面板已通过实验制作和测试。面板测试证实，当RMA的直径间隔为1/2到1之间时，会产生最大或最佳性能。测试的执行器力在此范围内相当恒定，表明较小的设计或制造差异可能不会显着影响面板性能。但是，轴向力和收缩量在大于最佳间距时会显着降低。这项多方面的工作为形状自适应面板提供了有用的设计，模拟制造和测试特性。演示了弯曲面板，但未建模。未来适应形状的飞行器的开发人员已经获得了额外的仿真和设计工具。

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