Static Modeling for Commercial Braided Pneumatic Muscle Actuators | Zendy

Zhong Jun | Zendy; Fan Jizhuang | Zendy; Zhu Yanhe | Zendy; Zhao Jie | Zendy; Zhai Wenjie | Zendy

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Static Modeling for Commercial Braided Pneumatic Muscle Actuators

Author(s) -

Zhong Jun,

Fan Jizhuang,

Zhu Yanhe,

Zhao Jie,

Zhai Wenjie

Publication year - 2014

Publication title -

advances in mechanical engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.318

H-Index - 40

ISSN - 1687-8132

DOI - 10.1155/2014/425217

Subject(s) - braid , hyperelastic material , actuator , materials science , elastomer , pneumatic actuator , elasticity (physics) , ogden , mechanical engineering , deformation (meteorology) , strain energy , structural engineering , mechanics , computer science , composite material , engineering , finite element method , physics , artificial intelligence

An enhanced model is proposed to describe static property of commercial braided pneumatic muscle actuators by including several important influencing factors. Elasticity of elastomer tube is considered and Ogden strain energy function is employed to describe its strain energy density. During pressurized process, small deformation of fiber occurs and is calculated using force balancing principle. Frictional forces within muscles are studied, which consist of friction within braid and that between bladder and braid. Isobaric experiments are performed and results verify the validity of the model.

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