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ROBOMECH Journal

Table 2 Parameters of the McKibben artificial muscles

From: Stability analysis of multi-serial-link mechanism driven by antagonistic multiarticular artificial muscles

Parameter

Monoarticular muscle

Tri-articular muscle

\(P\)(MPa)

0.3

0.4

0.5

0.3

0.4

0.5

\({K}_{m}\)(kN/m)

2.26

2.45

2.58

0.57

0.62

0.66

\({\varepsilon }_{\mathrm{Max}}\)(%)

13

16

19

13

16

19

\({e}_{0}\)(mm)

0

50

\({e}_{1}\)(mm)

50

50

  1. Rubber tube outer diameter \(D\)= 2 mm
  2. Rubber tube inner diameter \(d\)= 1.16 mm
  3. Sleeve default angle \({\theta }_{0}\)= 19°
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