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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022年第2期17卷 71-84页

作者： Peng CHEN Tingwen YUAN Yi YU Yuwang LIU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Mechanical Engineering Northeastern UniversityShenyang 110000China

Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

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Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication

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National Science Review 2021年第10期8卷 68-78页

作者： Jiang Zou Miao Feng Ningyuan Ding Peinan Yan Haipeng Xu Dezhi Yang Nicholas X.Fang Guoying Gu Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Department of Mechanical Engineering Massachusetts Institute of Technology Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University

Advances in development of artificial muscles have enabled creation of soft robots with biological dexterity and self-adaption in unstructured environments; however, production of scalable artificial muscles with multiple-mode actuations remains elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles called MAIPAMs(muscle-fiber array inspired pneumatic artificial muscles), capable of multiple-mode actuations(such as parallel elongation-bending-spiraling actuations, 10 parallel bending actuations and cascaded elongation-bending-spiraling actuations). Our MAIPAMs consist of active 3 D elastomer-balloon arrays reinforced by a passive elastomer membrane,achieved through a planar design and one-step rolling fabrication approach. We introduce prototypical designs for the MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible but non-stretchable layers for contraction and twisting actuation modes and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows potential for versatile robotic applications, such as carrying a camera for recording videos, gripping or manipulating objects, and climbing a pipe-line.

关键词： soft robotics pneumatic artificial muscles multiple-mode actuations bio-inspired design

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Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles

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Science China(Technological Sciences) 2021年第10期64卷 2272-2280页

作者： XIA XiuZe CHENG Long School of artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

pneumatic artificial muscles(PAMs)usually exhibit strong hysteresis nonlinearity and time-varying features that bring PAMs modeling and control difficulties.To characterize the hysteresis relation between PAMs’displacement and fluid pressure,a long short term memory(LSTM)neural network model and an adaptive Takagi-Sugeno(T-S)fuzzy model are proposed.Experiments show that both models perform well under the load free conditions,and the adaptive T-S Fuzzy model can furtherly adapt to the change of load with the online adaptation ability.With the concise expression and satisfactory performance of the adaptive T-S Fuzzy model,a model predictive controller is designed and tested.Experiments show that the model predictive controller has a good performance on tracking the given references.

关键词： pneumatic artificial muscles adaptive T-S fuzzy model LSTM neural network model model predictive control

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MODEL IMPROVEMENT AND EXPERIMENT VALIDATION OF pneumatic artificial muscles

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Chinese Journal of Mechanical Engineering 2004年第1期17卷 36-39页

作者： ZhouAiguo ShiGuanglin ZhongTingxiu InstituteofMechatronics SchoolofMechanicalandPowerEngineeringShanghaiJiaotongUniversityShanghai200030China

According to the deficiency of the present model of pneumatic artificialmuscles (PAM), a serial model is built up based on the PAM's essential working principle with theelastic theory, it is validated by the quasi-static and dynamic experiment results, which are gainedfrom two experiment systems. The experiment results and the simulation results illustrate that theserial model has made a great success compared with Chou's model, which can describe the forcecharacteristics of PAM more precisely. A compensation item considering the braid's elasticity andthe coulomb damp is attached to the serial model based on the analysis of the experiment results.The dynamic experiment proves that the viscous damp of the PAM could be ignored in order to simplifythe model of PAM. Finally, an improved serial model of PAM is obtained.

关键词： pneumatic artificial muscles Serial model Quasi-static Dynamic Compensation

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