A FEM model of Transversal Artificial Muscle deformation

Pneumatic Artificial Muscles have found application in many sectors of industry. However, their large dimensions make them useless in medical robotics. Therefore, Transversal Artificial Muscles were designed. This innovative construction is characterized by much smaller dimensions and high strength relative to the total volume change. Also, they allow obtaining a linear displacement by changing a diameter of a muscle without changing its length. This paper presents modelling of Transversal Pneumatic Muscles using Finite Element Method. The model simulates the deformation of muscles and the motion achieved by changing the values of pressure supplied to the muscle. Research compares different variants of the muscle, varying in length, diameters or wall thickness. Theoretical assumptions were verified using numerical methods to select muscle of best characteristics. Also, in the paper there is shown comparison of FEM simulation and experimental results of research. _______ 1) Katarzyna Koter, M.Sc. (Ph.D. student): Lodz University of Technology, Stefanowskiego 1/15 Lodz, POLAND ([email protected]), the author presented this contribution at the conference. 2) Łukasz Frącczak, Ph.D.: Lodz University of Technology, Stefanowskiego 1/15 Lodz, POLAND ([email protected]). 3) Leszek Podsędkowski, Professor: Lodz University of Technology, Stefanowskiego 1/15 Lodz, POLAND ([email protected]).