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Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots

Limited load capacity is the bottleneck for the practical application of mobile multi-joint legged robots. And improving the efficiency of the drive system is a key factor in improving the load capacity. To improve the efficiency of mobile robots, in this paper, a new kind of actuator that imitates...

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Autores principales: Bai, Xiangjuan, Xue, Yong, Xu, Yuze, Shang, Jianzhong, Luo, Zirong, Yang, Junhong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9271615/
https://www.ncbi.nlm.nih.gov/pubmed/35832409
http://dx.doi.org/10.3389/fbioe.2022.923383
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author Bai, Xiangjuan
Xue, Yong
Xu, Yuze
Shang, Jianzhong
Luo, Zirong
Yang, Junhong
author_facet Bai, Xiangjuan
Xue, Yong
Xu, Yuze
Shang, Jianzhong
Luo, Zirong
Yang, Junhong
author_sort Bai, Xiangjuan
collection PubMed
description Limited load capacity is the bottleneck for the practical application of mobile multi-joint legged robots. And improving the efficiency of the drive system is a key factor in improving the load capacity. To improve the efficiency of mobile robots, in this paper, a new kind of actuator that imitates the driving mechanism of human muscles is innovatively designed and validated through experiments. The proposed actuator consists of a single power source and multiple plunger pistons, and imitates the configuration of a human muscle, to improve the efficiency and load capacities. The design proposed here represents a new class of driving methods. The actuator selects the most appropriate combination of the effective areas of plunger pistons like the human muscles, to ensure that the maximal output force aligns with the load force. To validate that the new actuator can improve the efficiency of hydraulic systems of mobile robots, a robotic arm incorporating a prototype of the new actuator was designed. The proposed system was validated through a series of experiments. The experiments show that the bionic actuator can adjust the flow rate of the system input by adjusting the number and size of the motion units involved in the work, and with the change in load force, it changes the output force by recruiting different motion units, which indicates good controllability. The results reported herein reveal that the application of bionics to the design of robotic actuator can significantly improve the efficiency and overall performance of the robots, and this biomimetic approach can be applied to a variety of robots.
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spelling pubmed-92716152022-07-12 Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots Bai, Xiangjuan Xue, Yong Xu, Yuze Shang, Jianzhong Luo, Zirong Yang, Junhong Front Bioeng Biotechnol Bioengineering and Biotechnology Limited load capacity is the bottleneck for the practical application of mobile multi-joint legged robots. And improving the efficiency of the drive system is a key factor in improving the load capacity. To improve the efficiency of mobile robots, in this paper, a new kind of actuator that imitates the driving mechanism of human muscles is innovatively designed and validated through experiments. The proposed actuator consists of a single power source and multiple plunger pistons, and imitates the configuration of a human muscle, to improve the efficiency and load capacities. The design proposed here represents a new class of driving methods. The actuator selects the most appropriate combination of the effective areas of plunger pistons like the human muscles, to ensure that the maximal output force aligns with the load force. To validate that the new actuator can improve the efficiency of hydraulic systems of mobile robots, a robotic arm incorporating a prototype of the new actuator was designed. The proposed system was validated through a series of experiments. The experiments show that the bionic actuator can adjust the flow rate of the system input by adjusting the number and size of the motion units involved in the work, and with the change in load force, it changes the output force by recruiting different motion units, which indicates good controllability. The results reported herein reveal that the application of bionics to the design of robotic actuator can significantly improve the efficiency and overall performance of the robots, and this biomimetic approach can be applied to a variety of robots. Frontiers Media S.A. 2022-06-27 /pmc/articles/PMC9271615/ /pubmed/35832409 http://dx.doi.org/10.3389/fbioe.2022.923383 Text en Copyright © 2022 Bai, Xue, Xu, Shang, Luo and Yang. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Bioengineering and Biotechnology
Bai, Xiangjuan
Xue, Yong
Xu, Yuze
Shang, Jianzhong
Luo, Zirong
Yang, Junhong
Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots
title Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots
title_full Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots
title_fullStr Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots
title_full_unstemmed Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots
title_short Bio-Inspired New Hydraulic Actuator Imitating the Human Muscles for Mobile Robots
title_sort bio-inspired new hydraulic actuator imitating the human muscles for mobile robots
topic Bioengineering and Biotechnology
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9271615/
https://www.ncbi.nlm.nih.gov/pubmed/35832409
http://dx.doi.org/10.3389/fbioe.2022.923383
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