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研究生(外文):Pei-Yi Ou
論文名稱(外文):Model-based Design and Fabrication of Pneumatic Muscle Actuators
指導教授(外文):Chia-Jui Chiang
外文關鍵詞:Pneumatic muscle actuatorPhysical modelLeast square methodParameter identificationDurability test
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Pneumatic muscle is a type actuator with high safety as its pliability allows greater, proximity between the humans and the robots. In recent years, the elderly population grows rapidly whereas the birth rate reduces, resulting in an increasing dependency ratio. Therefore, the pneumatic muscles are expected to be applied to assistive technologies that enables the elders and disables to live autonomously. Unfortunately, there is no company in Taiwan producing the pneumatic muscle actuators and the imports are not only expensive but also impossible to be customized. The objective of this research is thus to develop a pneumatic muscle actuators of low cost, high power-to-volume ratio and high durability. A physics-based model is adopted for performance analysis and design of the pneumatic muscle actuators. The pneumatic muscle developed in this research includes three major parts: the inner layer elastic tube, the outer layer fiber mesh and the connectors at the two ends. The sizing and material selection of the inner and outer layers are determined based on the experimental results and the physics-based model at various pressure conditions. The parameters related to the elasticity of the pneumatic muscle in the physical model are identified based on the least square method and the overall model is validated against the force measurement at various pressures. From the test results, the developed pneumatic muscle can sustain up to 170 Nt loading under 5 bar working pressure. Durability test results show that, under the test condition of 3 bar working pressure and sinusoidal external load of 100 Nt in amplitude and 0.2 Hz in frequency, the self-made pneumatic muscle maintains its performance after 10,000 test cycles. Specifically, the contraction ratio raises less than 1.59% whereas the elastic force drops less than 16.67%. In the future, the pneumatic muscle can be applied to assistive technologies and control algorithms can be developed based on the physics-based model developed in this work.
第一章 導論
第二章 實驗平臺與設備介紹
第三章 自製氣壓肌肉
第四章 結果與討論
第五章 結論與未來展望
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