Research And Application Of Hydraulic Artificial Muscle

In recent years,with the development of Soft Robotics,the types of soft actuator and motion library have been well expanded.However,although the hydraulic artificial muscle has many advantages as a soft actuator,but its type of motion library is single,which limits its application in more fields.Therefore,in order to enrich the motion library of the hydraulic artificial muscle,design different types of actuators and explore the possible application field,it will affect the promotion and application of the hydraulic artificial muscle.Firstly,the static model of the hydraulic Mckibben artificial muscle(HAM)was established in this paper,and the relationship between the pressure and displacement of the actuator was verified by the combination of FEA and experimental verification.The creation of fibers is the most difficult point in the simulation process,and it is also an important fact that affects the deformation of the HAM actuator.According to this phenomenon,the design scheme of the HAM actuator was determined,that is,the bending deformation,twisting deformation and combined deformation of HAM actuator was designed and realized by fiber reinforcement.According to the above ideas,two types of bending hydraulic artificial muscles: SBHAM and CBHAM were designed in this paper,and the manufacturing scheme of two types of actuator was developed and implemented.In order to verify the bending effect,the actuator designed in this subject was predicted by FEA,and the results show that the actuator can realize the bending deformation very well.For the SBHAM actuator,the experimental verification shows that the SBHAM actuator manufactured in this paper has good bending performance.And according to the experimental results,a soft hand gripper is proposed,which also proves that the hand gripper can be used for grasping the object well.For the CBHAM actuator,we analyzed the influence of fiber parameters on the bending angle.Based on the analysis results,a module for spinal rehabilitation assistance was designed,the analysis results of the module showed that the deformation of the module was also within a reasonable range.In addition,this paper also proposes a new type of twisting-contraction hydraulic artificial muscle THAM.For this actuator,in order to reduce the number of experiments.First,the FEA was used to determine the reasonable numerical range of the angle and number of fibers,and some parameters were selected according to the range for experimental verification.The results demonstrate that the experimental twisting angle and displacement are 1 times the relationship of the simulation.By analyzing,it was found that it was caused by the gap between the elastomer and the fibers.Therefore,the simulation results still have certain reference value.For this type of AM,this paper also explores its application potential and proposes a kind of peristaltic pipeline robot.Based on the research of hydraulic Mckibben artificial muscles,this paper designs and develops different types of hydraulic artificial muscles by means of mechanical programming.Two types of bending artificial muscle and a twisting artificial muscle were proposed and it will be rich in the variety of hydraulic artificial muscles and motion library.Simultaneously,the application fields of each kind of actuators were explored,and the application scope of hydraulic artificial muscles was extended to provide guidance for the follow-up research.