JRM Vol.23 No.4 pp. 582-588
doi: 10.20965/jrm.2011.p0582


Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination

Kazuhiro Iwata, Koichi Suzumori, and Shuichi Wakimoto

Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan

September 30, 2010
April 22, 2011
August 20, 2011
McKibben actuator, stiffness change, hydraulic soft actuator
Recently, there has been increasing researches on the McKibben type artificial muscle, because it is small, light, and high powered. In this study, in addition to the contraction artificial muscle, the stiffness change artificial muscle and the extending artificial muscle have been developed. By nonlinear finite element method analysis, the best sleeve knitting angle has been derived to achieve the stiffness change and the extension and contraction motions. From the results, three kinds of artificial muscles realizing contraction and extension motion, and the stiffness change have been fabricated. To apply high hydraulic pressure on the muscles, these are composed of the three layer tube and the reverse tapered plug. We confirmed that the three muscles respectively generate stiffness change, contraction, and extension motions successfully. In addition, the novel bending actuator has been developed by combining contractional and extensional artificial muscles. Bending motion with high stiffness has been realized.
Cite this article as:
K. Iwata, K. Suzumori, and S. Wakimoto, “Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination,” J. Robot. Mechatron., Vol.23 No.4, pp. 582-588, 2011.
Data files:
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