用拉绳原理设计新型气动肌肉，收缩时不膨胀，更紧凑高效。
Fabric Pneumatic Artificial Muscles Based on the Drawstring Principle
- 借鉴纺织品拉绳原理，设计无径向膨胀的气动肌肉。
- 最大收缩率达44%，功率密度达4.98 kW/kg，自重承载超800倍。
- 适合软体机器人和产线应用，易平面扩展，可批量集成。
气动人工肌肉在机器人和工业领域有广泛应用。传统气动肌肉在轴向收缩时会产生额外的径向变形，严重浪费可用空间。受纺织品中广泛采用的拉绳原理启发，本文提出一种新型拉绳结构织物气动人工肌肉（DPAM）。与传统结构不同，所提出的DPAM在收缩过程中不产生额外径向变形，显著提升结构紧凑性。该肌肉表现出优异的机械性能：负载能力超过自重的800倍，最大收缩比达44%，功率密度高达4.98 kW/kg，且具备良好可扩展性。通过仿生机器人和工业生产线两个典型应用场景验证了其实用性。所制备的DPAM阵列已证明可在二维平面内轻松扩展。本工作不仅提出了一种高性能新型气动人工肌肉，还为软体机器人研究提供了来自传统纺织结构的设计启示。
原文摘要 · Abstract (English)
Pneumatic artificial muscles have wide applications in robotics and industrial fields. Conventional pneumatic artificial muscles generate extra radial deformation during axial contraction, which severely wastes available working space. Inspired by the widely adopted drawstring principle in textile products, this paper proposes a novel drawstring fabric pneumatic artificial muscle (DPAM). Unlike traditional counterparts, the proposed DPAM produces no extra radial deformation during contraction, greatly improving structural compactness. The DPAM exhibits outstanding mechanical performance: a load capacity over 800 times its self-weight, a maximum contraction ratio of 44%, and a power density up to 4.98 kW/kg, alongside excellent scalability. Two representative application scenarios, bionic robots and industrial production lines, are demonstrated to validate its practicability. The DPAM can be easily expanded within a two-dimensional plane, as verified by the fabricated DPAM matrix. This work not only presents a high-performance novel pneumatic artificial muscle but also inspires researchers to draw design inspiration from conventional textile structures to address existing challenges in soft robotics.
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