A Method of Designing and Fabricating Mckibben Muscles Driven by 7 MPa Hydraulics
Kazuhiro Iwata*, Koichi Suzumori*, and Shuichi Wakimoto**
*Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan
**Research Core for Interdisciplinary Sciences, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan
Research has recently been increasing on light weight and high-power robot hands that use artificial muscles. By applying ultra high strength PBO fiber sleeves to McKibben artificial muscles, new hydraulic artificial muscles have been developed in our laboratory. In this research, to apply this technology to a high-power robot easily, we have developed new, thin, hydraulic artificial muscles. While the hydraulic artificial muscles reported in our previous paper were driven by a maximum water pressure of 4 MPa, the newly developed thin muscles are driven by water with a maximum pressure of 7 MPa, resulting in very high force capability. This paper details the materials and structure of the new artificial muscles and reports the results of experiments on them. The muscles developed in this work are based on a sleeve and rubber tube design. The movements of the muscles depend on the angle of the knit of sleeve: an angle of less than 54.5 deg produces contraction while an angle of more than 54.5 deg produces extension. Based on this idea, we optimize, using FEM analysis, the angle of knit of the sleeve of each muscle. As a result, a high powered artificial muscle 21 mm in diameter which generates 8 kN of contraction force has been successfully developed.
-  K. Suzumori, “New Actuators and Their Applications – From Nano Actuators to Mega Actuators,” 2004 Int. Symp. on Micronanomechatronics and HUMAN SCIENCE, pp. 15-21, 2004. (in Japanese)
-  T. Higuchi, “Next-Generation Actuators Leading Breakthroughts,” The 1st Int. Symp. on Next-Generation Actuators Leading Breakthroughs, pp. 3-4, 2006.
-  M. Mori, K. Suzumori, M. Takahashi, and T. Hosoya, “Very High Force Hydraulic McKibben Artificial Muscle with a p-Phenylene-2, 6-benzobisoxazole Cord Sleeve,” Advanced Robotics, Vol.24, Nos.1-2, pp. 233-254, 2010.
-  S. Hirose, “Development of X-Screw : A Load-Sensitive Actuator Incorporating a Variable Transmission,” Proc. of the 1999 IEEE Int. Conf. on Robotics & Automation, pp. 193-199, 1999.
-  Y. Yokokohji, Y. Sato, K. Kawata, K. Shiratsuchi, and temsuk Co.,LTD, “Development of a Teleoperated Heavy-Duty Robot for Assisting Rescue Activities,” 2005 JSME Conf. on Robotics and Mechatronics, 2005, ALL-N-010.
-  T. Kitagawa et al., “Structural Study on PBO Fiber,” 14th Annual Meeting, Polymer Processing Society, p. 723, 1998.
-  H. F. Schulte, “The Characteristics of theMcKibben Artificial Muscle,” The Application of External Power in Prosthetics and Orthetics, pp. 94-115, 1961.
-  2005 Festo AG & Co. KG, “catalogue of rubber muscle; MAS series internal diameter 10, 20, 40,” p. 12, p. 14, 2005.
-  C. P. Chou and B. Hannaford, “Measurement and Modeling of McKibben Pneumatic Artificial Muscles,” IEEE Trans Robot Autom, Vol.12, No.1, pp. 90-102, 1996.
-  Y. Shinichi and K. Takehiro, “Flexible Hydraulic Actuator for Space Manipulators,” JSME Int. J. Series C, Mechanical sysytem, machine elements and manufacturing, Vol.37-C, No.1, pp. 179-184, March 15, 1994.
-  S. Yokota and T. Komatsu, “A Study on a Flexible Hydraulic Actuator for Space Manipulators,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.57, No.542, pp. 3222-3227, 1991.
-  T. Hongu, “High-Tech Fibers,” Nikkan Kogyo Shimbun Ltd., pp. 66-127, 1999. (in Japanese)
-  TOYOBO CO.,LTD., “PBO FIBER ZYLON® Technical Information,” (Revised 2001.9)
-  K. Yabuki, “Development of Dyneema® and Zyron® and their use,” Vol.53, No.4, p. 22, 2000. (in Japanese)
-  S.Wakimoto, I. Kumagai, and K. Suzumori, “Development of large Intestine Endoscope Changing Its Stiffness,” 2009 IEEE Int. Conf. on Robotics and Biomimetics, pp. 2320-2325, Dec. 2009.
-  K. Iwata and K. Suzumori, “Development of high hydraulic pressure McKibben artificial muscle and its application to light spreader,” ROBOMEC 2009, 2P1-A17, 2009. (in Japanese)
-  K. Iwata, K. Suzumori, and S. Wakimoto, “Combination of extending/contracting artificial muscles realizing power soft mechanisms,” The 4th Int. Conf. on Manufacturing, Machine Design and Tribology, D1-03, 2011.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.