Dynamic analysis of a parametrically excited golden Muga silk embedded pneumatic artificial muscle

Mechanical Engineering Department, Indian Institute of Technology Guwahati, Guwahati, 781039, India

^* Corresponding author: k.bhaben@iitg.ernet.in, dwivedy@iitg.ernet.in

Abstract

In this work a novel pneumatic artificial muscle is fabricated using golden muga silk and silicon rubber. It is assumed that the muscle force is a quadratic function of pressure. Here a single degree of freedom system is considered where a mass is supported by a spring-damper-and pneumatically actuated muscle. While the spring-mass damper is a passive system, the addition of pneumatic muscle makes the system active. The dynamic analysis of this system is carried out by developing the equation of motion which contains multi-frequency excitations with both forced and parametric excitations. Using method of multiple scales the reduced equations are developed for simple and principal parametric resonance conditions. The time response obtained using method of multiple scales have been compared with those obtained by solving the original equation of motion numerically. Using both time response and phase portraits, variation of few systems parameters have been carried out. This work may find application in developing wearable device and robotic device for rehabilitation purpose.