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Efficiency of Origami-Based Vacuum Pneumatic Artificial Muscle for Off-Grid Operation

  • Jin-Gyu Lee
  • Hugo RodrigueEmail author
Regular Paper
  • 102 Downloads

Abstract

Soft pneumatic actuators using either pressurized air or vacuum pressure are the soft actuators with the most potential for real-life applications, but their energy efficiency has not been studied in much detail. In this work, a model-based method is presented that can predict the energy efficiency of origami-based vacuum pneumatic artificial muscles (OV-PAMs) while considering the characteristics of the pump used. This model was applied using both the manufacturer’s data and experimental data to extrapolate the efficiency and flow rate of the pump which can then be used to optimize the dimensions of the actuator based on the target payload. It is then demonstrated that OV-PAMs can be used as a lightweight, low-cost, portable and powerful actuation solution paired with either batteries or solar panels and lightweight pumps. By optimizing its parameters, it will be possible to implement this actuator for the automation of low-cost off-grid operations and for field robots that can collaborate with humans.

Keywords

Soft actuator Vacuum actuator Actuator efficiency Renewable energy Off-grid robotics 

List of Symbols

Wout

Output mechanical work of the actuator

Win

Input work of the pump

L

Current height of the chamber between two reinforcements

L0

Initial height of the chamber between two reinforcements

Θ

Internal angle of the actuator

V

Volume of the actuator

F

Force produced by the actuator

D

Width of the sides of the actuator

te

Estimated time required to actuate the actuator between two states

V1

Initial volume of the actuator before actuation

V2

Final volume of the actuator after actuation

Pabs

Absolute pressure within the actuator

Pused

Energy used to actuate the actuator

Ppump

Power used by the pump during actuation

ηtot

Total efficiency of the system

ηpump

Efficiency of the pump

ηactuator

Efficiency of the actuator

ηsystem

Efficiency of the system

Notes

Acknowledgements

This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program (10080336) funded By the Ministry of Trade, Industry & Energy(MI, Korea), and by the National Research Foundation of Korea(NRF) grant funded by the Korea government (Ministry of Science, ICT & Future Planning) (no. 2018R1C1B6003990).

Compliance with Ethical Standards

Conflict of interest

On behalf of all authors, the corresponding author states that there is no conflict of interest.

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Copyright information

© Korean Society for Precision Engineering 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringSungkyunkwan UniversitySuwonRepublic of Korea

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