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Proceedings Paper

Hydraulically actuated artificial muscles
Author(s): M. A. Meller; R. Tiwari; K. B. Wajcs; C. Moses; I. Reveles; E. Garcia
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Paper Abstract

Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.

Paper Details

Date Published: 3 April 2012
PDF: 17 pages
Proc. SPIE 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012, 83401L (3 April 2012); doi: 10.1117/12.913949
Show Author Affiliations
M. A. Meller, Cornell Univ. (United States)
R. Tiwari, Cornell Univ. (United States)
K. B. Wajcs, Cornell Univ. (United States)
C. Moses, Cornell Univ. (United States)
I. Reveles, Cornell Univ. (United States)
E. Garcia, Cornell Univ. (United States)

Published in SPIE Proceedings Vol. 8340:
Electroactive Polymer Actuators and Devices (EAPAD) 2012
Yoseph Bar-Cohen, Editor(s)

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