Journal: Biomimetics

Article Title: Peristaltic Motion Enabled by Pneumatic Artificial Muscles (PAMs) as Structural “Soft–Stiff” Actuators in a Modular Worm-Inspired Robot

doi: 10.3390/biomimetics9080447

Figure Lengend Snippet: ( a ) Force–contraction Diagrams for a Pleated PAM of deflated length 0.11 m and diameter 0.0235 m operating at a range of pressures for comparison against theoretical data ; and ( b ) Force–contraction Diagrams for a Pleated PAM of deflated length 0.1 m and diameter 0.025 m operating at a range of pressures for comparison against experimental data . Our MATLAB code developed using Chou and Hannaford model was outlined above following Equation .

Article Snippet: E.O.M. for mass 1: m p x 1 ̈ = − F r s E.O.M. for mass 2: m p x 2 ̈ + k c x 2 − k c x 3 = − F r s − F r P 2 E.O.M. for mass 3: m p x 3 ̈ − k c x 2 + ( k c + k e ) x 3 − k e x 4 = − F r P 3 E.O.M. for mass 4: m p x 4 ̈ − k e x 3 + ( 2 k e ) x 4 − k e x 5 = − F r P 4 E.O.M. for mass 5: m p x 5 ̈ − k e x 4 + k e x 5 = − F r P 5 A MATLAB 2019a script was used to solve the system of equations of motion numerically.

Techniques: Comparison

Journal: Biomimetics

Article Title: Peristaltic Motion Enabled by Pneumatic Artificial Muscles (PAMs) as Structural “Soft–Stiff” Actuators in a Modular Worm-Inspired Robot

doi: 10.3390/biomimetics9080447

Figure Lengend Snippet: Diagram showing the three parabolic curves that the loft surfaces were generated between. The coefficients of the quadratic functions depend on the outer radius of the PAM connector and the CCS parameters, and were generated by a MATLAB code inspired by the GRACE proposal paper. Each function is defined so that each curve starts at the PAM connector and ends at their respective point on the CCS.

Article Snippet: E.O.M. for mass 1: m p x 1 ̈ = − F r s E.O.M. for mass 2: m p x 2 ̈ + k c x 2 − k c x 3 = − F r s − F r P 2 E.O.M. for mass 3: m p x 3 ̈ − k c x 2 + ( k c + k e ) x 3 − k e x 4 = − F r P 3 E.O.M. for mass 4: m p x 4 ̈ − k e x 3 + ( 2 k e ) x 4 − k e x 5 = − F r P 4 E.O.M. for mass 5: m p x 5 ̈ − k e x 4 + k e x 5 = − F r P 5 A MATLAB 2019a script was used to solve the system of equations of motion numerically.

Techniques: Generated