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Armor-Based Stable Force Pneumatic Artificial Muscles for Steady Actuation Properties.

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  • 1School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea.

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Summary

A new lightweight pneumatic artificial muscle, the armor-based stable force pneumatic artificial muscle (AS-PAM), offers a high contraction ratio and stable force output. This innovative actuator enables new possibilities for soft robots in human-robot collaboration.

Keywords:
pneumatic linear actuatorsoft roboticsstable force

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft pneumatic actuators are crucial for safe human-robot interaction.
  • Existing actuators often face challenges with stable force output and limited contraction ratios.

Purpose of the Study:

  • To introduce a novel pneumatic artificial muscle, the Armor-based Stable Force Pneumatic Artificial Muscle (AS-PAM).
  • To demonstrate the AS-PAM's capabilities in terms of lightweight design, large contraction, and stable force output.
  • To present an analytical model for predicting and controlling AS-PAM behavior.

Main Methods:

  • Design and fabrication of the AS-PAM with a sealed polygonal chamber and film.
  • Integration of an armor and constraint system for motion guidance.
  • Development of an analytical model for actuator behavior prediction.
  • Experimental validation of the analytical model.
  • Construction of a gripper utilizing AS-PAMs to showcase practical applications.

Main Results:

  • The AS-PAM achieves a lightweight design (∼100 g) and a large contraction ratio (>60%).
  • Stable force output is maintained with less than 10% deviation across the operating range [6.25 N/(cm²·bar)].
  • Experimental results validate the predictive accuracy of the analytical model.

Conclusions:

  • The AS-PAM presents unique characteristics not found in other soft pneumatic actuators.
  • Its stable force and large contraction enable expanded applications for soft robots in human-robot collaboration.
  • The developed analytical model facilitates precise control and prediction of AS-PAM performance.