Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

[+] Author and Article Information
Glenn K. Klute

Department of Bioengineering, University of Washington, Seattle, WA 98195-2500e-mail: gklute@u.washington.edu

Blake Hannaford

Department of Electrical Engineering, University of Washington, Seattle, WA 98195-2500 e-mail: blake@ee.washington.edu

J. Dyn. Sys., Meas., Control 122(2), 386-388 (Dec 15, 1998) (3 pages) doi:10.1115/1.482478 History: Received December 15, 1998
Copyright © 2000 by ASME
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Grahic Jump Location
McKibben actuators are fabricated from two principle components: an inflatable inner bladder made of a rubber material and an exterior braided shell wound in a double helix. At ambient pressure, the actuator is at its resting length (Fig. 1(a)). As pressure increases, the actuator contracts proportionally until it reaches its maximally contracted state at maximum pressure (Fig. 1(b)). Both the thread length (B) and the number of turns an individual thread makes about the diameter (N) are constant. The amount of contraction is described by the actuator’s longitudinal stretch ratio given by λ1=Li/Lo where L is the actuator’s length, subscript i refers to the instantaneous dimension, and the subscript o refers to the original, resting state dimension.
Grahic Jump Location
Model predictions versus experimental results are presented for the largest of the three actuators tested (nominal braid diameter of 1-1/4). Fgaylord refers to the model published by Gaylord 2 which does not account for bladder geometry or material. Fmr refers to our model which incorporates both bladder geometry and Mooney–Rivlin material properties.



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