资源描述：
《Design of flat pneumatic artificial muscles扁平气动人工肌肉的设计》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、SmartMaterialsandStructuresSmartMater.Struct.26(2017)035009(10pp)doi:10.1088/1361-665X/aa5496Designofflatpneumaticartificialmuscles12,3JacksonWirekohandYong-LaePark1MechanicalEngineering,CarnegieMellonUniversity,Pittsburgh,PA15213,USA2RoboticsInstitute,CarnegieMellonUniversity,
2、Pittsburgh,PA15232,USA3MechanicalandAerospaceEngineering,SeoulNationalUniversity,Seoul,08826,KoreaE-mail:ylpark@cs.cmu.eduReceived22July2016,revised14December2016Acceptedforpublication19December2016Published7February2017AbstractPneumaticartificialmuscles(PAMs)havegainedwideuse
3、inthefieldofroboticsduetotheirabilitytogeneratelinearforcesandmotionswithasimplemechanism,whileremaininglightweightandcompact.However,PAMsarelimitedbytheirtraditionalcylindricalformfactors,whichmustincreaseradiallytoimprovecontractionforcegeneration.Additionally,thisformfactor
4、resultsinoverlycomplicatedfabricationprocesseswhenembeddedfibersandsensorelementsarerequiredtoprovideefficientactuationandcontrolofthePAMswhileminimizingthebulkinessoftheoverallroboticsystem.Inordertoovercometheselimitations,aflattwo-dimensionalPAMcapableofbeingfabricatedusingas
5、implelayeredmanufacturingprocesswascreated.Furthermore,atheoreticalmodelwasdevelopedusingVonKarman’sformulationforlargedeformationsandtheenergymethods.ExperimentalcharacterizationsoftwodifferenttypesofPAMs,asingle-cellunitandamulti-cellunit,wereperformedtomeasurethemaximumcon
6、tractionlengthsandforcesatinputpressuresrangingfrom0to150kPa.Experimentaldatawerethenusedtoverifythefidelityofthetheoreticalmodel.Keywords:pneumaticartificialmuscle(PAM),softrobotics,designandmanufacturing,embeddedfibers,stress–straintest,actuators(Somefiguresmayappearincolouronl
7、yintheonlinejournal)1.Introduction[1].TheMcKibbenactuator,whichmakesuseofabraidedmeshandcylindricalbladdertoprovidelinearforceandcon-Pneumaticartificialmuscles(PAMs)havebeenwidelyusedtractionwhenstimulatedwithpressurizedair,wasoriginallyinthefieldofrobotics,especiallyforsoftrob
8、oticapplications,designedforuseinanorthoticdevicetoaidpoliopatientsd
