This repository contains matlab code for simplified modelling of the BiSoft.Q bi-directional Pneumatic Artificial Muscle.
For further information, please refer to the following scientific paper:
- Colucci G. et al, A Bi-Directional Linear Artificial Muscle for Assistive Robotic Systems, [...].
BiSoftQ_Prototyping.mp4
The code is developed in Matlab 2023b. Installation of the Parallel Computing Toolbox is required. The modelling library is contained within the BiSoftQ_Class folder (both types A and B). The "DesignScript.m" file explains how to model a BiSoft.Q actuator by giving as imput the following parameters:
- Geometrical
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$L$ , Longitudinal (nominal) length of the actuator when printed ($x=$0) -
$l_{v,p}$ ,$l_{c,p}$ , the valley and crest longitudinal arc lengths -
$R_{ie,p}$ , the radius of the arc defined in the median cross-sectional plane of the BiSoft.Q -
$R_{ve,p}$ and$R_{ce,p}$ , the radii of fillet arcs in the terminal cross-sectional plane -
$R_{im,p}/R_{om,p}$ , the ratio of the inner valley and outer crest arcs defined in the median cross-sectional plane -
$N_{p}$ , the number of pleats -
$R_{i,b}$ , the bellows radius defined on the median cross-sectional plane -
$\alpha_{b}$ , the angle between two subsequent bellows folds -
$R_{v,b}$ and$R_{c,b}$ , the valley and crest fillet radii of the bellows -
$N_b$ , the number of bellows folds -
$t$ , thickness of the membranes
-
- Physical
-
$p_{s}$ , supply gauge pressure. The same value is assumed for both chambers - actuator.Bellows.E, Young's modulus of the bellows material for its stiffness estimation
- actuator.Bellows.nu, Poisson's ration of the bellows material for its stiffness estimation
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Some of the geometrical parameters are defined by means of dimensionless ratios.
BiSoftQ_Modelling.mp4
The script exports the BiSoft.Q geometry in .stl (monolithic design)
