Motion Analysis of McKibben Type Pneumatic Rubber Artificial Muscle with Finite Element Method

Abstract

This study aims to use three-dimensional (3D) Finite Element Modeling (FEM) to establish a quantitative design optimization method for McKibben-type pneumatic rubber artificial muscle. First, a simple 3D model that does not account for the friction between the tube and the fiber braid strands and or that between the strands themselves is developed. The model is validated through experimentation, and the usefulness of the model is examined. With this model, the effects of various parameters, e.g., the braid angle, on the operation of the artificial muscle is investigated. It is found that the characteristics of the artificial muscle can be predicted. Thus, the proposed analysis may be a useful design method for braided artificial muscles.