Design and Applications of High Force Generation in 3D-Printed Pneumatic Artificial Muscles

Increasing the force generation and scalability of soft pneumatic actuators poses significant challenges in robotics applications, especially where high load capacities and precise control are required. This paper presents UniBPAM, a novel, scalable soft pneumatic actuator optimized through 3D print...

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Bibliographic Details
Published in:Actuators 2024-11, Vol.13 (11), p.436
Main Authors: Park, Jae Hyeong, Jeon, Seungweon, Gong, Young Jin, Yoon, Jimin, Shin, Dongsu, Seo, Hyeon-Woong, Kim, Bo Geun, Koo, Ja Choon, Moon, Hyungpil, Hugo, Rodrigue, Choi, Hyouk Ryeol
Format: Article
Language:English
Subjects:
3-D printers
3D printing
3D-printed
Actuation
Actuators
Air leakage
Artificial muscles
Design
Design parameters
Motion control
pneumatic artificial muscles
Pneumatics
Proportional integral derivative
Robot control
Robotics
soft actuators
soft robotics
Three dimensional printing
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Summary:Increasing the force generation and scalability of soft pneumatic actuators poses significant challenges in robotics applications, especially where high load capacities and precise control are required. This paper presents UniBPAM, a novel, scalable soft pneumatic actuator optimized through 3D printing to enhance force generation. By analyzing design parameters, such as the number of sides, height, and origami factor, UniBPAM achieved a 21.48% increase in force generation. Scalable across diameters from 36 to 144 mm, the actuator demonstrated the ability to lift up to 57 kg with 84.9% strain at larger scales. Additionally, the BiBPAM variant enables bidirectional actuation in robotic joints via motion control, which is realized through PID systems, making it suitable for various robotic applications.
ISSN:2076-0825
2076-0825
DOI:10.3390/act13110436