Analysis of Anchoring Muscles for Pipe Crawling Robots
Pneumatic artificial muscles (PAMs) consist of an elastomeric bladder wrapped in a Kevlar braid. When inflated, PAMs expand radially and contract axially, producing large axial forces. PAMs are often utilized for their high specific work and specific power, as well as their ability to produce large...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-07-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/14/7/331 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | Pneumatic artificial muscles (PAMs) consist of an elastomeric bladder wrapped in a Kevlar braid. When inflated, PAMs expand radially and contract axially, producing large axial forces. PAMs are often utilized for their high specific work and specific power, as well as their ability to produce large axial displacements. Although the axial behavior of PAMs is well studied, the radial behavior has remained underutilized and is poorly understood. Modeling was performed using a force balance approach to capture the effects that bladder strain and applied axial load have on the anchoring force. Radial expansion testing was performed to validate the model. Force due to anchoring was recorded using force transducers attached to sections of aluminum pipe using an MTS servo-hydraulic testing machine. Data from the test were compared to the predicted anchoring force. Radial expansion in large-diameter (over 50.8 mm) PAMs was then used in worm-like robots to create anchoring forces that allow for a peristaltic wave, which creates locomotion through acrylic pipes. By radially expanding, the PAM presses itself into the pipe, creating an anchor point. The previously anchored PAM then deflates, which propels the robot forward. Modeling of the radial expansion forces and anchoring was necessary to determine the pressurization required for proper anchoring before slipping occurs due to the combined robot and payload weight. |
|---|---|
| ISSN: | 2076-0825 |