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1、PneumaticArtificialMuscles:actuatorsforroboticsandautomationFrankDaerden,DirkLefeberVrijeUniversiteitBrussel,DepartmentofMechanicalEngineeringPleinlaan2,B-1050Brusselsfrank.daerden@vub.ac.beAbstractThisarticleisintendedasanintroductiontoandanoverviewofPneumaticArtificialMuscles(PAMs).The
2、searepneumaticactuatorsmademainlyofaflexibleandinflatablemembrane.First,theirconceptandwayofoperationareexplained.Next,thepropertiesoftheseactuatorsaregiven,themostimportantofwhicharethecompliantbehaviorandextremelylowweight.Aclassificationandreviewisfollowingthissection.Typicalapplicati
3、onsaredealtwithinthelastbutonesectionand,finally,someconcludingremarksaremade.Keywords:actuators,pneumatics,pneumaticartificialmuscles,McKibbenmuscles,pleatedpneumaticartificialmuscles,compliance,lightweight.1Introduction2ConceptandoperationPneumaticactuators,usuallycylinders,arewidelyus
4、edPAMsarecontractileandlinearmotionenginesoperatedinfactoryfloorautomation.Lately,roboticsaswellisbygaspressure.Theircoreelementisaflexiblestartingtousepneumaticsasamainmotionpowerreinforcedclosedmembraneattachedatbothendstosource.Oneofthemajorattractionsaboutpneumaticsisfittingsalongwhi
5、chmechanicalpoweristransferredtoathelowweightandtheinherentcompliantbehaviorofitsload.Asthemembraneisinflatedorgasissuckedoutofactuators.Complianceisduetothecompressibilityofairit,itbulgesoutwardorissqueezed,respectively.and,assuch,canbeinfluencedbycontrollingtheTogetherwiththisradialexp
6、ansionorcontraction,theoperatingpressure.Thisisanimportantfeaturemembranecontractsaxiallyandtherebyexertsapullingwheneverthereisaninteractionbetweenmanandforceonitsload.Theforceandmotionthusgeneratedmachineorwhendelicateoperationshavetobecarriedbythistypeofactuatorarelinearandunidirectio
7、nal.Thisout(e.g.handlingoffragileobjects).ThankstocontractileoperationdistinguishesthePAMfromcomplianceasofttouchandsafeinteractioncanbebellows,whichextenduponinflation.easilyguaranteed.Hydraulicandelectricdrives,inThroughoutliteraturedifferentnamesarefoundforcontrast,hav
