Hydraulically Actuated Artificial Muscles

被引：1
|
作者：
Meller, M. A. [1 ]
Tiwari, R. [1 ]
Wajcs, K. B. [1 ]
Moses, C. [1 ]
Reveles, I. [1 ]
Garcia, E. [1 ]
机构：
[1] Cornell Univ, Lab Intelligent Machine Syst, Ithaca, NY 14853 USA
来源：
ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2012 | 2012年 / 8340卷
关键词：
artificial muscle; meso-scale; hydraulics; antagonistic pairs; robots; PNEUMATIC MUSCLE; ROBOTS;
D O I：
10.1117/12.913949
中图分类号：
O646 [电化学、电解、磁化学];
学科分类号：
081704 ;
摘要：
Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.
引用
收藏
页数：17
相关论文
共 50 条
  • [21] HYDRAULICALLY ACTUATED VERTICAL LIFT BRIDGE
    ASHTON, GC
    CIVIL ENGINEERING, 1969, 39 (10): : 38 - &
  • [22] Implementation of Robotic Shoulder Complex actuated by Pneumatic Artificial Muscles
    Kim, Wanju
    Hong, Geun Young
    Poorten, Emmanuel Vander
    Choi, Youngjin
    2022 19TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS (UR), 2022, : 70 - 76
  • [23] The pneumatic biped "Lucy" actuated with pleated pneumatic artificial muscles
    Verrelst, B
    Van Ham, R
    Vanderborght, B
    Daerden, F
    Lefeber, D
    Vermeulen, J
    AUTONOMOUS ROBOTS, 2005, 18 (02) : 201 - 213
  • [24] Soft Wrist Exosuit Actuated by Fabric Pneumatic Artificial Muscles
    Schaffer, Katalin
    Ozkan-Aydin, Yasemin
    Coad, Margaret M.
    IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, 2024, 6 (02): : 718 - 732
  • [25] Climbing Robot Actuated by Meso-Hydraulic Artificial Muscles
    Bryant, Matthew
    Fitzgerald, Jason
    Miller, Samuel
    Saltzman, Jonah
    Kim, Sangkyu
    Lin, Yong
    Garcia, Ephrahim
    ACTIVE AND PASSIVE SMART STRUCTURES AND INTEGRATED SYSTEMS 2014, 2014, 9057
  • [26] Leg Mechanisms for Hydraulically Actuated Robots
    Yang, Yousheng
    Semini, Claudio
    Tsagarakis, Nikos G.
    Guglielmino, Emanuele
    Caldwell, Darwin G.
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 4669 - 4675
  • [27] SILENCING HYDRAULICALLY ACTUATED MACHINERY.
    Skaistis, S.J.
    Hydraulics and Pneumatics, 1987, 40 (07): : 46 - 50
  • [28] Mechatronic design of a planar parallel robot actuated by pneumatic artificial muscles
    Besoiu, Sorin
    Maties, Vistrian
    Donca, Radu
    ROBOTICS AND AUTOMATION SYSTEMS, 2010, 166-167 : 57 - 62
  • [29] Hydraulically actuated PTOs from twin disc
    McNeely, M
    DIESEL PROGRESS NORTH AMERICAN EDITION, 2005, 71 (03): : 92 - 92
  • [30] Online payload estimation for hydraulically actuated manipulators
    Renner, Anton
    Wind, Hannes
    Sawodny, Oliver
    MECHATRONICS, 2020, 66 (66)
12345