Design and Characterization of Viscoelastic McKibben Actuators with Tunable Force-Velocity Curves
| Autor: | Bennington, Michael J., Wang, Tuo, Yin, Jiaguo, Bergbreiter, Sarah, Majidi, Carmel, Webster-Wood, Victoria A. |
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| Rok vydání: | 2023 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | The McKibben pneumatic artificial muscle is a commonly studied soft robotic actuator, and its quasistatic force-length properties have been well characterized and modeled. However, its damping and force-velocity properties are less well studied. Understanding these properties will allow for more robust dynamic modeling of soft robotic systems. The force-velocity response of these actuators is of particular interest because these actuators are often used as hardware models of skeletal muscles for bioinspired robots, and this force-velocity relationship is fundamental to muscle physiology. In this work, we investigated the force-velocity response of McKibben actuators and the ability to tune this response through the use of viscoelastic polymer sheaths. These viscoelastic McKibben actuators (VMAs) were characterized using iso-velocity experiments inspired by skeletal muscle physiology tests. A simplified 1D model of the actuators was developed to connect the shape of the force-velocity curve to the material parameters of the actuator and sheaths. Using these viscoelastic materials, we were able to modulate the shape and magnitude of the actuators' force-velocity curves, and using the developed model, these changes were connected back to the material properties of the sheaths. Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. (Submitted to RoboSoft 2023) |
| Databáze: | arXiv |
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