(MCKIBBEN’S MUSCLE) Robots Make Our Work Lighter, But We Have Made the Robots Lighter.
Journal Title: International Journal of Modern Engineering Research (IJMER) - Year 2013, Vol 3, Issue 5
Abstract
: Industrial robots, which are heavy moving bodies, show high risk of damage when working and also sessions in dense environment of other robots. This initiated the allure for lighter robot constructions using soft arms. This paper reports on the design of a biorobotic actuator. Data from several vertebrate species (rat, frog, cat, and human) are used to evaluate the performance of a McKibben pneumatic actuator. Soft arms create powerful, compact, compliance and light robotic arms and consist of pneumatic actuators like McKibben muscles. Currently there are some trajectory problems in McKibben muscles, which restrict its application. This paper presents solutions to certain problems in the McKibben muscles by the use of Electro Active Polymers (EAP). The main attractive characteristic of EAP is their operational similarity to biological muscles, particularly their resilience and ability to induce large actuation strains. Electro Active Polymers (EAP) as sensors, which simplify a robotic finger, models by acting like an actuator (sensor cum actuator). Ion-exchange Polymer Metal Composite (IPMC), one of the EAPs, has been selected by us ahead of its alternatives like shaper memory alloys and electro active ceramics and the reason for its selection is also discussed in this paper. We devise a unique model to eliminate trajectory errors by placing EAP stripes in robots’ joints, which can also be applied to current (heavy) robots actuated by motors. This paper would obliterate all the difficulties currently present in McKibben muscles system, which currently restricts its application. Adroit use of the solutions provided in this paper would abet researchers to produce highly efficient artificial muscles system. We give the idea of an artificial muscle system which consume “less energy & oxygen” than a natural one. Therefore we discuss the world’s most energy efficient robot with our innovative idea.
Authors and Affiliations
Shripad Shashikant Chopade
Keywords
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