Modeling and analysis of an electro-pneumatic braided muscle actuator
| Autor: | Sushma Santapuri, Saswath Ghosh, Sitikantha Roy, Deepak Kumar |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Computer Science::Robotics
0209 industrial biotechnology 020901 industrial engineering & automation Materials science Mechanical Engineering General Materials Science 02 engineering and technology Dielectric Composite material 021001 nanoscience & nanotechnology 0210 nano-technology Actuator Anisotropy |
| Zdroj: | Journal of Intelligent Material Systems and Structures. 32:399-409 |
| ISSN: | 1530-8138 1045-389X |
| DOI: | 10.1177/1045389x20953624 |
| Popis: | The present study deals with static modeling and analysis of a novel electro-pneumatic braided muscle (EPBM) actuator. The EPBM actuator is a hybrid McKibben-type actuator, made of a dielectric polymeric bladder enclosed in a braided mesh sleeve. A continuum mechanics-based electromechanical model is developed to predict the response of the actuator for a combined pressure and voltage loading. The model also incorporates braid-to-braid frictional effects. The model agrees well with existing experimental results for the special case of zero input voltage. Parametric studies are subsequently performed for varying braid angle, input pressure, and voltage. Finally, the model is utilized to study the impact of fiber-reinforcement in the bladder on the actuator performance. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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