Characterization and modeling of air muscles

摘要

Two flexible pneumatic actuators, McKibben and straight fiber, were analyzed. The muscles were modeled by finite element method. The numerical models take into account the non-linearity of the expanding rubber inner tube, and of the mechanism for transferring load to the braided cords surrounding the tube. Because of its own fabrication, McKibben muscle model may capture the initial backslash between rubber tube and cords.Despite of the McKibben specimen, a straight fiber muscle prototype was fabricated on purpose in the laboratory. In order to validate the numerical models, numerous experimental tests were carried out. The numerical results showed a good agreement with the data measured experimentally in terms of muscle pull force and of its deformed shape. Finally, the models of two muscles similar in terms of input energy allow their performances to be compared. (C) 2003 Elsevier Ltd. All rights reserved.