Abstract
In this work a novel pneumatic artificial muscle is fabricated using golden muga silk and silicon rubber. It is assumed that the muscle force is a quadratic function of pressure. Here a single degree of freedom system is considered where a mass is supported by a spring-damper-and pneumatically actuated muscle. While the spring-mass damper is a passive system, the addition of pneumatic muscle makes the system active. The dynamic analysis of this system is carried out by developing the equation of motion which contains multi-frequency excitations with both forced and parametric excitations. Using method of multiple scales the reduced equations are developed for simple and principal parametric resonance conditions. The time response obtained using method of multiple scales have been compared with those obtained by solving the original equation of motion numerically. Using both time response and phase portraits, variation of few systems parameters have been carried out. This work may find application in developing wearable device and robotic device for rehabilitation purpose.
Highlights
A wearable device used in rehabilitation robotic system guides the human motion in a similar way as that of the function of the human muscles
The used actuators should have a high power-to-weight ratio so that the device or the robot must be of light weight
It is necessary to develop a pneumatic artificial muscle (PAM) actuator that is soft in nature similar to human muscles
Summary
A wearable device used in rehabilitation robotic system guides the human motion in a similar way as that of the function of the human muscles For this purpose, the used actuators should have a high power-to-weight ratio so that the device or the robot must be of light weight. PAMs are one such class of actuators in which fabrics are arranged longitudinally to make it frictionless so that the product life cycle can be extended and hysteresis of the actuator becomes small These will be capable of delivering high power-to-weight ratio just like the McKibben Muscle and significant similarities with our body muscles. By applying pneumatic pressure as the length is constant due to muga fabrics, the longitudinal and lateral expansion can be controlled
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