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

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 ef...
Ausführliche Beschreibung

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. Ausführliche Beschreibung