Mathematical Model for Pressure-Deformation Relationship of Miniaturized McKibben Actuators

Ashwin, KP and Ghosal, Ashitava (2019) Mathematical Model for Pressure-Deformation Relationship of Miniaturized McKibben Actuators. In: 3rd International and 18th National Conference on Machines and Mechanisms iNaCoMM 2017, 13th to 15thDe, Mumbai, India, pp. 267-278.

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Abstract

A McKibben actuator/Pneumatic Artificial Muscle (PAM) is a soft actuator which has great potential in the field of bioinspired robotics. Miniaturized versions of PAMs or MPAMs of less than 1.5 mm diameter are ideal actuators for developing surgical devices due to their compliance and high power-to-weight ratio. Accurate mathematical model to represent the mechanics of PAM is an ongoing research. This paper develops a mathematical model which relates the input pressure to end-point deformation of a fabricated MPAM without external loading. The developed theoretical model is validated against experimental data for MPAM of lengths 60 and 70 mm. The model predicts the deformation of MPAM with standard error of less than 10%. The model is also able to predict the locking angle of 54.7 degrees at higher pressures which is a distinct characteristic of McKibben actuators.

Item Type:	Conference Paper
Series.:	Lecture Notes in Mechanical Engineering
Publisher:	SPRINGER-VERLAG BERLIN
Additional Information:	The copyright of the article belongs to the Author(s).
Keywords:	Miniaturized McKibben actuators; Pneumatic muscles; Actuated endoscopic instruments
Department/Centre:	Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	05 Mar 2020 06:41
Last Modified:	22 Sep 2022 09:34
URI:	https://eprints.iisc.ac.in/id/eprint/62444

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