臺灣博碩士論文加值系統

Nowadays, artificial muscles are produced for purposes, which are adapted for natural muscles or applications in robotics. Artificial muscle is a contractile organ that actuates forces and motions. Normally, artificial muscles are created by several methods such as pneumatic artificial muscles, piezoelectric actuators, electroactive polymer artificial muscles (EPAMs), shape memory alloy actuators, etc. Generally, there still remain some disadvantages about low stability, high price, high electricity consumption, and nonlinear control. Therefore, the purpose of this thesis is to present a new method to create and develop artificial muscles that is called “Electromagnetic muscle”
Basically, the new electromagnetic muscle operates using attractive force between two electromagnets and the elasticity of elastomeric spring. Especially, according this method, the stability of electromagnetic muscle depends on the elasticity of rubber and certainly it is very stable. In addition, one can adjust the resilience of the artificial muscle by changing the elastomeric spring models. The elastomeric spring models could be analyzed by application of finite element method.
In this method, ANSYS software is applied to design and analyze the elastomeric spring models. After the analyzing process, we would obtain the deformed shape and stress results which help us to create and choose the best solution of corresponding spring model for the required electromagnetic muscle. Base on them, we could create elastomeric spring molds to produce elastomeric springs, perform some experiments to compare the real elastomeric springs with ANSYS design models. Furthermore, the electromagnetic muscle will be produced.

ABSTRACT I
ACKNOWLEDGEMENT II
TABLE OF CONTENTSIII
LIST OF FIGURESV
LIST OF TABLES VIII
NOMENCLATUREIX
CHAPTER 1 INTRODUCTION1
1.1 Background 1
1.2 References from electromagnetic muscle 3
1.3 The idea of a new artificial muscle 4
1.4 Purpose of research 12
1.5 Research Steps 12
CHAPTER 2 THEORY AND MEASUREMENT OF ELECTROMAGNETS 15
2.1 Electromagnet15
2.1.1 Theory of electromagnet 15
2.1.2: Prototypes of the electromagnets 21
2.2 Measurements 23
2.2.1: Design of apparatus for force measurement using force gauge 23
2.2.2 Measured attractive forces as function of electrical current: 30
2.3 Theoretical equations 32
2.3.1 Theoretical derivation 33
2.3.2 Comparison of the theory and the measurements .38
CHAPTER 3 DESIGN AND SIMULATION OF ELASTOMERIC SPRING 41
3.1 Design of nonlinear spring 41
3.1.1 Rubber elasticity 41
3.1.2 Proposed design of elastomeric springs 43
3.2 Simulation of spring action 44
3.2.1 Finite element modeling (ANSYS) 45
3.2.2 Result discussion 47
CHATER 4: PROTOTYPE OF THE MUSCLE SYSTEM 63
4.1 Design and fabrication 63
4.1.1 Prototype of the elastomeric spring 63
4.1.2 Design of the electromagnetic muscle system 69
4.2 Testing operation of the system 72
4.3 Experiment results and discussion: 73
CHAPTER 5 CONCLUSIONS AND FUTURE WORK 79
5.1 Conclusions 79
5.2 Future work. 80
REFERENCE 81
APPENDIX I 83

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