摘要: The McKibben artificial muscle is a pneumatic device characterized by its high level of functional analogy with human skeletal muscle. While maintaining globally cylindrical shape, the produces contraction force decreasing ratio, as does maximum force-to-weight ratio can be surprisingly for limited radial dimension and conventional pressure range. A 50 g easily develop more than 1000 N under 5 bar an external radius varying from about 1.5 to 3 cm. Thus, robotics specialists are interested in this well-adapted motorizing powerful yet compact robot arms. basic static modeling developed paper, which based on three main parameters (i.e., initial braid angle, length, radius) includes three-parameter friction model thread against itself, has shown efficiency both isometric isotonic contraction.
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