Kinematic and quasi-static analysis model of a novel variable stiffnesspneumatic artificial muscle
(07/10/2022)
A novel variable stiffness axial expansion pneumatic artificial muscle based on hexagonal origami isproposed. Based on the presented assumptions, a kinematic analysis model of the pneumatic artificialmuscles is presented, and the changes in crease angles, air cavity volume and geometric configurationsof the pneumatic artificial muscles during the actuation process are obtained. The equivalent elasticmodulus of the hyperelastic material is obtained by fitting the stress-strain curve. The stress state ofthe crease is simplified as the pure bending model of a straight beam, and the rotational stiffness of thecrease is formulated. Based on the energy method, a quasi-static characteristic analysis model
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Tác giả: Xu Yan, Fang Qin, Li Hua |
Số trang: 11 |
Lĩnh vực: Vật lý |
Năm XB: 2021 |
Loại tài liệu: Bài Báo
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Tiêu đề | Tải về |
Kinematic and quasi-static analysis model of a novel variable stiffnesspneumatic artificial muscle | Số trang: 11
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Soft robots have flexible body structures, which can realizecontinuous deformations and complex 3D-space movements ofmultiple degrees of freedom and have excellent actuation abilityand environmental suitability.
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