Theoretical modeling, analysis, and experimental results of a hydraulic artificial muscle prototype

Jonathon E. Slightam, Mark L. Nagurka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

Fluidic braided artificial muscles have been studied for close to seventy years. Their high power-to-weight ratio and force-to-weight ratio make them a desirable actuation technology for compact and lightweight mobile manipulation. Use of hydraulics with fluidic artificial muscles has helped realize high actuation forces with new potential applications. To achieve large actuation forces produced from high internal pressure, artificial muscles operate near the limitations of their mechanical strength. Design improvements and future applications in mechanical systems will benefit from detailed theoretical analysis of the fluidic artificial muscle mechanics. This paper presents the theoretical modeling of a hydraulic artificial muscle, analysis of its mechanics, and experimental results that validate the model. A prototype is analyzed that operates at 14 MPa and can generate up to 6.3 kN of force and a displacement of 21.5 mm. This model promises to be useful for mechanical system design and model-based control.

Original languageEnglish
Title of host publicationASME/BATH 2019 Symposium on Fluid Power and Motion Control, FPMC 2019
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859339
DOIs
StatePublished - 1 Jan 2020
Externally publishedYes
EventASME/BATH 2019 Symposium on Fluid Power and Motion Control, FPMC 2019 - Longboat Key, United States
Duration: 7 Oct 20199 Oct 2019

Publication series

NameASME/BATH 2019 Symposium on Fluid Power and Motion Control, FPMC 2019

Conference

ConferenceASME/BATH 2019 Symposium on Fluid Power and Motion Control, FPMC 2019
Country/TerritoryUnited States
CityLongboat Key
Period7/10/199/10/19

ASJC Scopus subject areas

  • Fluid Flow and Transfer Processes
  • Control and Systems Engineering

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