Experimental analysis of fluidic muscles

Abstract

Fluidic muscles have been the subject of research since the 1930s to the present day. McKibben's muscle is one of the most common ones. This type is the basis for fluidic muscles already being used commercially. The power-to-weight ratio is one of their main advantages. The disadvantage is difficult handling. The article describes experimental verification of static characteristics of fluidic muscles. During muscle contraction, a tensile force is developed which changes as the length of the muscle changes. This dependence is experimentally verified. A measuring equipment for testing fluidic muscles of various lengths and diameters is designed and assembled. The device consists of a pneumatic circuit, where the output drive is a loaded fluidic muscle. The load of muscle is generated by a hydraulic cylinder. The results will be further applicable to fluidic muscle simulations.