Papers by Keyword: Fluidic Muscle

Abstract: Pneumatic muscle actuators (PMAs) differ from general pneumatic systems as they have no inner moved parts and there is no sliding on the surfaces. During action they reach high velocities, while the power/weight and power/volume rations reach high levels. The main drawbacks of PMAs are limited contraction (relative displacement), nonlinear and time variable behaviour, existence of hysteresis and step-jump pressure (to start radial diaphragm deformation) and also antagonistic connection of PMAs to generate two-direction motion. These make PMAs difficult to modelling and control. In this paper a new stiffness model and the variable-stiffness spring-like characteristics are described and tested using two Fluidic Muscles made by Festo Company. The muscles have the same diameter, but different length.

Abstract: The fluidic muscle cylinder consists of an air bellows tube, flanges and lock nuts. Its features are softness of material and motion, simplicity of structure, low production cost and high power efficiency. Recently, unlike the pneumatic cylinder, the fluidic muscle cylinder without air leakage, stick slip, friction or seals was developed as a new concept actuator. It has characteristics such as light weight, low price, high response, durable design, long life, high power and high contraction. In this study, we carried out finite element modeling and analysis on the main design variables such as contraction ratio and force, and diameter increment of the fluidic muscle cylinder. On the basis of finite element analysis, the prototype fluidic muscle cylinder was fabricated and tested. Finally, we compared the test results with the finite element analysis.