Hydraulically actuated artificial muscles

M. A. Meller; R. Tiwari; K. B. Wajcs; C. Moses; I. Reveles; E. Garcia

doi:10.1117/12.913949

3 April 2012 Hydraulically actuated artificial muscles

M. A. Meller, R. Tiwari, K. B. Wajcs, C. Moses, I. Reveles, E. Garcia

Proceedings Volume 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012; 83401L (2012) https://doi.org/10.1117/12.913949
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2012, San Diego, California, United States

Abstract

Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.

Citation Download Citation

M. A. Meller, R. Tiwari, K. B. Wajcs, C. Moses, I. Reveles, and E. Garcia "Hydraulically actuated artificial muscles", Proc. SPIE 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012, 83401L (3 April 2012); https://doi.org/10.1117/12.913949

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