Modeling and analysis of an electro-pneumatic braided muscle actuator

The present study deals with static modeling and analysis of a novel electro-pneumatic braided muscle (EPBM) actuator. The EPBM actuator is a hybrid McKibben-type actuator, made of a dielectric polymeric bladder enclosed in a braided mesh sleeve. A continuum mechanics-based electromechanical model is developed to predict the response of the actuator for a combined pressure and voltage loading. The model also incorporates braid-to-braid frictional effects. The model agrees well with existing experimental results for the special case of zero input voltage. Parametric studies are subsequently performed for varying braid angle, input pressure, and voltage. Finally, the model is utilized to study the impact of fiber-reinforcement in the bladder on the actuator performance.

Automated summary

The present study focuses on the static modeling and analysis of a novel electro-pneumatic braided muscle (EPBM) actuator, developing a continuum mechanics-based electromechanical model to predict the actuator's response to combined pressure and voltage loading, including braid-to-braid frictional effects. Parametric studies are conducted on varying braid angle, input pressure, and voltage, and the impact of fiber-reinforcement in the bladder on actuator performance is also studied using the model.