Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model
Modelling the behaviour of Pneumatic Artificial Muscle (PAM) has proven difficult due to its highly complicated structure, nonlinear nature of rubbery material, and air compressibility. To overcome these limitations, a FEM (Finite Element Method) model using Abaqus and CATIA is derived for the quant...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/4681796 |
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| author | Qin Tu Yanjie Wang Donghai Yue Frank Agyen Dwomoh |
| author_facet | Qin Tu Yanjie Wang Donghai Yue Frank Agyen Dwomoh |
| author_sort | Qin Tu |
| collection | DOAJ |
| description | Modelling the behaviour of Pneumatic Artificial Muscle (PAM) has proven difficult due to its highly complicated structure, nonlinear nature of rubbery material, and air compressibility. To overcome these limitations, a FEM (Finite Element Method) model using Abaqus and CATIA is derived for the quantitative analysis on the impact of different factors on the pulling force of PAM. In the Abaqus a two parameter Mooney–Rivlin model is utilized to consider the hyper-elastic nature of flexible material. Then both Abaqus and CATIA are used in the parametric design of a 3-Dimensional model of PAM. Furthermore, the FEM model is employed to predict the static force exerted by PAM and the results show that the model is promising. The FEM model produces closer results to the test data for the typical PAM. Nonlinear behaviour of PAM is found to be obvious with an increase in both the contraction and the air pressure, different from the linear curves obtained by the fundamental geometrical model. Nonlinear changes in the PAM force are also observed in the numerical study on the effect of structural factors including initial braid angle, initial diameter, initial wall thickness, and flexible material. Besides, these phenomena can be explained by a connection between mechanical and morphological behaviour of PAMs with the FEM model. Generally, this modelling approach is more accurate compared to the fundamental theoretical model and more cost competitive compared to the empirical methods. |
| format | Article |
| id | doaj-art-46b665eb8e9d49baa5d79cbf1e7acc6a |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-46b665eb8e9d49baa5d79cbf1e7acc6a2025-08-20T02:37:49ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/46817964681796Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM ModelQin Tu0Yanjie Wang1Donghai Yue2Frank Agyen Dwomoh3School of Intelligent Equipment, Changzhou College of Information Technology, Changzhou, Jiangsu 213164, ChinaSchool of Mechanical and Electrical Engineering, Hohai University, Changzhou, Jiangsu 213022, ChinaSchool of Intelligent Equipment, Changzhou College of Information Technology, Changzhou, Jiangsu 213164, ChinaSchool of Engineering, Koforidua Polytechnic, Koforidua, Eastern Region, GhanaModelling the behaviour of Pneumatic Artificial Muscle (PAM) has proven difficult due to its highly complicated structure, nonlinear nature of rubbery material, and air compressibility. To overcome these limitations, a FEM (Finite Element Method) model using Abaqus and CATIA is derived for the quantitative analysis on the impact of different factors on the pulling force of PAM. In the Abaqus a two parameter Mooney–Rivlin model is utilized to consider the hyper-elastic nature of flexible material. Then both Abaqus and CATIA are used in the parametric design of a 3-Dimensional model of PAM. Furthermore, the FEM model is employed to predict the static force exerted by PAM and the results show that the model is promising. The FEM model produces closer results to the test data for the typical PAM. Nonlinear behaviour of PAM is found to be obvious with an increase in both the contraction and the air pressure, different from the linear curves obtained by the fundamental geometrical model. Nonlinear changes in the PAM force are also observed in the numerical study on the effect of structural factors including initial braid angle, initial diameter, initial wall thickness, and flexible material. Besides, these phenomena can be explained by a connection between mechanical and morphological behaviour of PAMs with the FEM model. Generally, this modelling approach is more accurate compared to the fundamental theoretical model and more cost competitive compared to the empirical methods.http://dx.doi.org/10.1155/2020/4681796 |
| spellingShingle | Qin Tu Yanjie Wang Donghai Yue Frank Agyen Dwomoh Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model Journal of Robotics |
| title | Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model |
| title_full | Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model |
| title_fullStr | Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model |
| title_full_unstemmed | Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model |
| title_short | Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model |
| title_sort | analysis on the impact factors for the pulling force of the mckibben pneumatic artificial muscle by a fem model |
| url | http://dx.doi.org/10.1155/2020/4681796 |
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