Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model

Joint Authors

Wang, Yanjie
Tu, Qin
Yue, Donghai
Dwomoh, Frank Agyen

Source

Journal of Robotics

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-01-22

Country of Publication

Egypt

No. of Pages

11

Main Subjects

Mechanical Engineering

Abstract EN

Modelling the behaviour of Pneumatic Artificial Muscle (PAM) has proven difficult due to its highly complicated structure, nonlinear nature of rubbery material, and air compressibility.

To overcome these limitations, a FEM (Finite Element Method) model using Abaqus and CATIA is derived for the quantitative analysis on the impact of different factors on the pulling force of PAM.

In the Abaqus a two parameter Mooney–Rivlin model is utilized to consider the hyper-elastic nature of flexible material.

Then both Abaqus and CATIA are used in the parametric design of a 3-Dimensional model of PAM.

Furthermore, the FEM model is employed to predict the static force exerted by PAM and the results show that the model is promising.

The FEM model produces closer results to the test data for the typical PAM.

Nonlinear behaviour of PAM is found to be obvious with an increase in both the contraction and the air pressure, different from the linear curves obtained by the fundamental geometrical model.

Nonlinear changes in the PAM force are also observed in the numerical study on the effect of structural factors including initial braid angle, initial diameter, initial wall thickness, and flexible material.

Besides, these phenomena can be explained by a connection between mechanical and morphological behaviour of PAMs with the FEM model.

Generally, this modelling approach is more accurate compared to the fundamental theoretical model and more cost competitive compared to the empirical methods.

American Psychological Association (APA)

Tu, Qin& Wang, Yanjie& Yue, Donghai& Dwomoh, Frank Agyen. 2020. Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model. Journal of Robotics،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1190229

Modern Language Association (MLA)

Tu, Qin…[et al.]. Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model. Journal of Robotics No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1190229

American Medical Association (AMA)

Tu, Qin& Wang, Yanjie& Yue, Donghai& Dwomoh, Frank Agyen. Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1190229

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1190229