A high strength water hydraulic artificial muscle is developed with a novel structure and processing method. The mathematical model of the muscle is also provided in this research. The static and dynamic test for the prototype muscle has been carried out and the theoretical relationship among the amount of contraction, pressure and drawing force of the water hydraulic artificial muscle is verified. The prototype muscle is 30 mm in diameter and 300 mm in length. The novel crimping and press process results in a high strength water hydraulic artificial muscle. The improvement of the strength is not only owing to the high tensile strength of the fibre but also the tightening force on the sleeve at the two ends of the muscle. The prototype muscle works well to generate a drawing force of at least 12 kN and can be applied a hydraulic pressure of 4 MPa. The reliability and destructive test on the developed muscle will be carried out in the future. A C-type hydraulic half bridge is employed to regulate the muscle pressure based on the present water hydraulic proportional throttle valve. As the water hydraulic artificial muscle and the hydraulic circuit being employed in underwater manipulators or other deep-sea systems, the throttle valve which is used as a fixed flow resistance can directly connect to the underwater environment, making for the compensation and natural balance of the muscle pressure for the variation of the ambient pressure corresponding to the depth of water. The presented hydraulic circuit works well according to the simulation and experimental results. The static test of relationship between contraction of the muscle and the drive pressure under different drawing forces shows that the muscle can be stretched longer than the initial length. The analysis result indicates that the relationship between the contraction, drive pressure and drawing force fits the static model as the muscle shortens. A small nonlinear error of drawing force to drive pressure is 1.8% at zero contraction. However, the relationship does not fit the static model with the muscle stretch. Besides, the linear regression parameters do not agree with the calculated coefficients in the static model. The relatively poor machining accuracy and the elasticity of the rubber tube result in the decrease of contraction. Future researches focus on the consistency of manufactured muscles with optimized process parameters.


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    Title :

    Research on High-Strength Water Hydraulic Artificial Muscle for Underwater Manipulator


    Contributors:


    Publication date :

    2014


    Size :

    12 Seiten, Bilder, Tabellen, 16 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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