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Modeling of pneumatic muscle with shape memory alloy and braided sleeve

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Abstract

Pneumatic muscle (PM) of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy (SMA) braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things.

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, 310018, PRC

    Bin-Rui Wang, Ying-Lian Jin & Dong Wei

  2. State Key Laboratory of Robotics, Shenyang, 110016, PRC

    Bin-Rui Wang

Authors
  1. Bin-Rui Wang
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  2. Ying-Lian Jin
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  3. Dong Wei
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Corresponding author

Correspondence to Bin-Rui Wang.

Additional information

This work was supported by National Natural Science Foundation of China (No. 50905170), Natural Science Foundation of Zhejiang Province (No. Y1090042), and Open Fund of State Key Laboratory of Robotics (No. RL0200918).

Bin-Rui Wang received the B. Sc. degree in mechanical manufacturing from the Department of Mechanical Engineering at Shenyang Ligong University, PRC in 1999, and the M. Sc. degree in mechanical engineering and automation from the School of Mechanical Engineering and Automation at Northeastern University, PRC in 2002, and the Ph. D. degree in pattern recognition and intelligent system from the School of Information Science and Engineering at Northeastern University in 2005. Currently, he is an associate professor in the School of Mechanical and Electrical Engineering at China Jiliang University, PRC. He received a second prize of Zhejiang Provincial Natural Science Outstanding Paper Award in 2007.

His research interests include humanoid robotics, intelligent control system, and information-based manufacturing.

Ying-Lian Jin received the B. Sc. degree in mechanical manufacturing from the Department of Mechanical Engineering at Shenyang Ligong University, PRC in 1999, and the M.Sc. degree in mechanical engineering and automation from the School of Mechanical Engineering and Automation at Northeastern University, PRC in 2004. In 2004, she was a faculty member at the research centre of Ningbo Bird Company, PRC. Currently, she is a lecturer in the School of Mechanical and Electrical Engineering at China Jiliang University, PRC.

Her research interests include intelligent detection, virtual instrument, and computer programming.

Dong Wei received the B. Sc. degree in manufacturing process automation from the Department of Automation at East China University of Science and Technology, PRC in 1990, and the M. Sc. degree in industrial automation from the Department of Automation at Northeastern University, PRC in 1997, and the Ph.D. degree in control theory and engineering from the School of Information Science and Engineering at Shanghai Jiao Tong University, PRC in 2004. Currently, he is an associate professor in the School of Mechanical and Electrical Engineering at China Jiliang University, PRC.

His research interests include fuel cell technology, drive and power used for robot, and fuzzy logic control system.

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Wang, BR., Jin, YL. & Wei, D. Modeling of pneumatic muscle with shape memory alloy and braided sleeve. Int. J. Autom. Comput. 7, 283–288 (2010). https://doi.org/10.1007/s11633-010-0504-x

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  • DOI: https://doi.org/10.1007/s11633-010-0504-x

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