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Air Muscle Presentation

In this article the study is made regarding very fast developing pneumatic actuation system, Air muscle. The air muscle is also termed as Artificial Pneumatic Muscle (PAM). Air muscle is, basically a muscle like structure similar to muscle in a human body. It works on same principal that of human muscle i.e. applying force when contracted axially and expanding in radial direction. This radial expansion if achieved by means of high pressure compressed air then the device is called as Pneumatic Air Muscle. Due to radial expansion increase in volume is compensated by a reduction in axial length of muscle kipping volume theoretically constant. The article contains information regarding construction, working, types, design considerations, features, operating characteristics, materials and applications mainly for robot actuation. These Pneumatic actuators made mainly of a flexible and inflatable membrane. The very basic need in any Robotic system is actuation of arms of robot. For this purpose Air muscles are ideal actuators over conventional linear pneumatic actuators i.e. cylinders. As Air muscles are very light in weight it reduces overall size and weight of system. Yet It give only one directional motion with one muscle but this drawback can be overcome by using two muscles instead of one, still investing less than conventional one. Biggest drawback is it provides very less force as compared to conventional system as it is limited by material used for flexible and inflatable membrane. The biggest use of air muscle is to replace human muscle by artificial muscle i.e. in orthotic and prosthetic devices because it shows force length properties same as human muscle. Second biggest use of artificial muscle is in Bio-Robotics i.e. making of humanoid robot. The most general application of air muscle is Industrial Robotics, as major attractions about air muscle are the low weight and the inherent compliant behavior. Compliance is due the compressibility of air and, as such, can be influenced by controlling the operating pressure. The force is not only dependent on Pressure but also on their state of inflation, which makes for a second source of spring-like behavior.

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334 views23 pages

Air Muscle Presentation

In this article the study is made regarding very fast developing pneumatic actuation system, Air muscle. The air muscle is also termed as Artificial Pneumatic Muscle (PAM). Air muscle is, basically a muscle like structure similar to muscle in a human body. It works on same principal that of human muscle i.e. applying force when contracted axially and expanding in radial direction. This radial expansion if achieved by means of high pressure compressed air then the device is called as Pneumatic Air Muscle. Due to radial expansion increase in volume is compensated by a reduction in axial length of muscle kipping volume theoretically constant. The article contains information regarding construction, working, types, design considerations, features, operating characteristics, materials and applications mainly for robot actuation. These Pneumatic actuators made mainly of a flexible and inflatable membrane. The very basic need in any Robotic system is actuation of arms of robot. For this purpose Air muscles are ideal actuators over conventional linear pneumatic actuators i.e. cylinders. As Air muscles are very light in weight it reduces overall size and weight of system. Yet It give only one directional motion with one muscle but this drawback can be overcome by using two muscles instead of one, still investing less than conventional one. Biggest drawback is it provides very less force as compared to conventional system as it is limited by material used for flexible and inflatable membrane. The biggest use of air muscle is to replace human muscle by artificial muscle i.e. in orthotic and prosthetic devices because it shows force length properties same as human muscle. Second biggest use of artificial muscle is in Bio-Robotics i.e. making of humanoid robot. The most general application of air muscle is Industrial Robotics, as major attractions about air muscle are the low weight and the inherent compliant behavior. Compliance is due the compressibility of air and, as such, can be influenced by controlling the operating pressure. The force is not only dependent on Pressure but also on their state of inflation, which makes for a second source of spring-like behavior.

Uploaded by

Nm5793
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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AIR MUSCLE [PAM]

AIR MUSCLE
An extraordinary actuator
The Air Muscle consists of a rubber tube covered in tough plastic netting which shortens in length like a human muscle when inflated with compressed air at High pressure.

Why to go for Air Muscle?


All the components are

quite expensive
A properly designed

system is more complex than an equivalent electromechanical system


All these components

take up quite a bit of valuable space within a robot

Brief Timeline
First developed in the 1950 by American physician,

Joseph L. McKibben
1968 Rubber artificial muscle More recently was commercialized in the 1980's by Bridgestone Rubber Company of Japan. Present working industry in this field,

Shadow Robot Company

Natural vs. Artificial Muscle


Natural Muscle
Force applied is inversely

Artificial Muscle
Force velocity relationship is

proportional to velocity of actuation


Force is directly proportional

not similar to natural muscle

Force length characteristics

to length and size of muscle.

are similar to natural muscle

FEATURES OF ARTIFICIAL MUSCLE


Lightweight:
Air Muscles weigh between 10g and 150g

Smooth:
Air Muscles have no 'stiction'

Powerful:
Produce forces up to 700 N

Reproducible:
Can be manufactured in identical size.

MOST GENERAL DIMENSIONS 30mm Air muscle


EXTENDED

CONTRACTED

Headers and Fittings


The header at each end of the muscle consists of an Aluminum ring, and a Delrin plastic bung, with an M10 female thread. This thread can be used as a means of attachment, and to allow air into or out of the muscle. The muscle is supplied with two Delrin fittings, one of which comes with a 6mm push-fit connector.

Theoretical Model
F= P*(dv/dl) Vb*(dw/dl) - Ff
Where P = Input actuation pressure dV = The change in the actuators interior volume dl = The change in the actuators length Vb = The volume occupied by the bladder dw = The change in strain energy density Ff = Friction arising from sources such as contact between the braid and the bladder and between the fibers of the braid itself.
DEMONSTRATION

MATERIALS AND PROPERTIES

EXPERIMENT
EXPERIMENT NO -1

EXPERIMENT NO -2

PAM operation at constant load

PAM operation at constant pressure

EXPRIMENT CONCLUSIONS
A PAM shortens by increasing its enclosed volume.
It will contract against a constant load if the pneumatic

pressure is increased. This means that a PAM will shorten at a constant pressure if its load is decreased and its contraction has an upper limit at which it develops no force and its enclosed volume is maximal. For each pair of pressure and load a PAM has an equilibrium length. This behavior is in absolute contrast to that of a pneumatic cylinder.

Experimental results of contraction and elongation of the PAM


As WORKING Pressure increases, the generated force increases and stretched length also increases.
It follows different path when air is

injected (Blue lines) and removed (Red lines).


As pressure increases characteristic curve appears to be straight line. So

easy to determine its behavior.

Ls = Reduction in length when compressed air is injected from actual un contracted length.

DYNAMIC Characteristics
A 130N Air muscle takes, hardly

3 seconds (5.5-2.5) to actuate load, one time.


The braid meshing absorbs strain energy at starting 0.5 second

(3 2.5) where there is no contraction & release energy in last 0.75 second(5.5 4.75)
Maximum contraction is limited to 30%.

PAM using shape-memory polymer (SMP)


Starting in state S1, the actuator is warmed

above Tg. The actuator now enters S2.


In S2 the SMP is soft and can be deformed.

When the internal bladder is pressurized, the actuator shortens and/or produces a force if it is coupled to a mechanical load. After the actuator attains its desirable length, it is cooled below Tg and the actuator enters state S3.
In S3 the SMP is fixed in its rigid state. If the

internal pressure within the bladder is released the actuator moved to state S4.
In S4 the actuator maintains its length

indefinitely without the need for an air supply. When the actuator is next heated above Tg, the SMP enters state S5.
In S5 the actuator has returned to its pre-

actuation state, and has exhibited shape recovery.

Tg = Glass Transition Temperature

WHY TO GO FOR SMP ?


The actuator can be fixed more rigidly than conventional pneumatic

actuators using the phase change of the SMP material.


The actuators can achieve relatively large deformation between two rigid

states.
The actuators can maintain a continuous desirable length. If only part of the actuator is heated, only that portion of the SMP will

transition to the rubbery state and hence, when internal air pressure is increased only that portion of the structure will actuate.

ADVANTAGES AND DISADVANTAGES


ADVANTAGES
Lightweight Lower Cost Smooth Flexible Powerful Compliant

DISADVANTAGES
Only Tensile nature Force Efficiency is not as good Hysteresis in the force-length characteristics Rubber is often needed to avoid the tube from bursting

APPLICATIONS
HUMONIDE HAND
The entire physical system is

illustrated. The physical hand and arm comprises 4 fingers, a thumb and elbow, all actuated via air muscles. Each air muscle requires a precisely controlled source of air pressure to accurately position the stroke-length of each air muscle, positioning the hand fingers and forearm in the required positions. This controlled source of air is supplied by the Valve Board

Humanoid Robot Eye.


The mechanism of the

humanoid robot eye is imitation of the human eye, which is modified slightly with the assumptions mentioned above. There is no contact between the pulley base (back base) and the eyeball. With cooperative stretching or shrinking of six EOMs, the eyeball can rotate with 3 DOF.

The Dexterous hand


The dexterous hand was developed by the Shadow robotic company. The hands operate just like human hands with five fingers. It is powered by 28 Air Muscles.

LEG MOTION

FUTURE DEVELOPMENTS
PLEATED PAM
PAM would have an infinite

amount of infinitely narrow pleats, leading to an axisymmetrical membrane surface that would thus only be loaded by meridional stresses (i.e. along fold lines) and not by parallel stresses (i.e. along parallels, which are sections of the surface and any plane perpendicular to the axis of symmetry).

COSTING & PRICES (SHADOW KIT)

THANK YOU

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