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[131] Citation: Abstract
The McKibben artificial muscle is a pneumatic actuator whose properties
include a very high force to weight ratio. This characteristic makes it
very attractive for a wide range of applications such as mobile robots and
prosthetic appliances for the disabled. In this paper, after reviewing
previous attempts at modeling, we present a model that includes a
non-linear, Mooney-Rivlin mathematical description of the actuators
internal bladder. Experimental results show that the model provides
significant improvement in the ability to predict output force as a
function of input pressure and actuator length. However, a discrepancy
between model and experiment, albeit smaller than previous models, still
exists. A number of frictional factors may be responsible for this
discrepancy, which we empirically model as a function of pressure. The
end result is a model that incorporates properties of the actuator's
exterior braid kinematics, interior bladder materials, and an empirical
component describing lumped frictional effects that accurately predicts
performance (r2<0.96) for actuators of three different sizes.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:51 2008
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