Final Project

Project Planning and Management

Research

For a material tester for artificial muscles, ther first question that occurs is: What do I want to test? In general there are different types of artificial muscles, with several orders of magnitude both size and generated force, e.g. Mingtong et al. 2022 researched miniature artifical muscles with reinforced nylonfibres (length of a few centimeters) for medical devices, while other researchers such as Wickramatunge and Leephakpreeda 2010 focus on pneumatic artificial muscle (PAM) with sizes of a few centimeters to more than a meter.

The other question is: What do I test for? According to a video from the ARC Centre of Excellence for Electromaterials Science (ACES) there are four different testing parameters: Isotonic actuation, isometric actuation, actuation against a spring in series, and hysteresis in loading and unloading.

It is important to decide on the type and test first. At the Hochschule Rhein-Waal, where I am working and studying, there are two types of artificial muscles produced McKibben (pneumatic) and nylon-based artificial muscles.

I decided to go for the McKibben muscle testing at first, and (if possible) make the tester adjustable for different types of artificial muscles.

Components

• Testing Apparatus: A testing setup that allows controlled application of forces or stimuli to the artificial muscle. This could include a mechanical testing machine, a custom-built rig, or any setup specific to the type of muscle being tested.
• Sensors:
  • Force sensors or load cells to measure the force generated by the artificial muscle.
  • Devices that measure the displacement or length changes of the artificial muscle.
  • Pressure sensor for the McKibben muscle
• Control System: A control system that regulates the applied stimuli, such as voltage or current. This helps in conducting controlled experiments and gathering data.
• Data Processing: Instruments or systems to collect and record data from sensors.
• Calibration Standards: Calibration tools to ensure the accuracy of the measurement devices.

Requirements

Testing Setup/Frame

• Artificial Muscle Mounting: The frame should provide a secure and adjustable mechanism for mounting and securing the artificial muscle during testing.
• Compatibility with Muscle Sizes: The frame should be designed to accommodate various sizes and types of artificial muscles to ensure versatility in testing.
• Modular Design: The frame should have a modular design, allowing for easy modification to accommodate different experimental setups or changes in artificial muscle configurations.
• Stability and Rigidity: The frame should be stable and rigid to minimize any unwanted vibrations or oscillations during testing, ensuring accurate measurements. Additionally, the load should be one axial.
• Material Strength: The frame material should possess sufficient strength and durability to withstand the forces applied during testing without deformation.
• Precision in Adjustability: The frame's adjustable components should allow for precise and repeatable adjustments to ensure consistent testing conditions.
• Weight Capacity: The frame should be designed to support the weight and forces generated by the artificial muscle without compromising its structural integrity.
• Cost-Effectiveness: The materials and manufacturing processes used in the frame construction should be cost-effective while meeting the required performance criteria.
• Ease of Maintenance: The frame should have minimal maintenance requirements, and any necessary maintenance tasks should be straightforward and well-documented.
• Dimensional Stability: The frame should maintain dimensional stability under different environmental conditions, ensuring consistent performance over time.
• Compatibility with Sensors: The frame design should consider the integration of sensors for force and displacement measurement, ensuring compatibility and accurate data acquisition.
• Compliance with Safety Standards: The frame should comply with relevant safety standards to ensure the safety of operators and prevent accidents during testing.

Sensors

• Precision Measurement: Sensors should provide precise measurements of force and displacement with an accuracy within the specified tolerance.
• Compatibility with Testing Apparatus: Sensors should be compatible with the testing apparatus, ensuring seamless integration and communication with the data acquisition system.
• Range of Measurement: Sensors should cover a wide range of force and displacement measurements to accommodate various testing scenarios.
• Response Time: Sensors should have a fast response time to capture rapid changes in force or displacement during dynamic testing.
• Ease of Calibration: Sensors should be easy to calibrate, allowing for regular calibration checks to maintain measurement accuracy.
• Accuracy: Sensors should provide accurate measurements, ensuring that the data collected is reliable and representative of the artificial muscle's performance.
• Precision: Sensors should demonstrate high precision in measurement, minimizing errors and variations in the recorded data.
• Calibration Stability: Once calibrated, sensors should maintain calibration stability over extended periods, requiring infrequent recalibration.
• Sensitivity: Sensors should be sensitive enough to detect small changes in force and displacement, especially in applications where fine control is crucial.
• Ease of Integration: Sensors should be designed for easy integration into the testing setup, minimizing installation and configuration complexities.

Data Processing

• Data Validation: The system should validate incoming data to ensure accuracy, completeness, and adherence to predefined data formats and standards.
• Data Transformation: The system should be capable of transforming raw data into a structured format suitable for analysis, including units conversion and normalization.
• Scalability: The data processing system should be scalable to handle varying data volumes and accommodate future growth in data size.
• Performance: The data processing system should demonstrate high performance, processing data within acceptable time frames to meet user expectations.
• Reliability: The system should be reliable, minimizing the risk of data loss or corruption and ensuring consistent results in data processing.
• Scalability: The system should be scalable to handle increased data loads without compromising performance or accuracy.
• Accuracy: Data processing should be accurate, minimizing errors in calculations, transformations, and aggregations.
• Data Consistency: The system should maintain data consistency across different processing stages to ensure coherent and reliable results.
• Usability: The data processing system should have a user-friendly interface, making it easy for users to define processing tasks, set parameters, and interpret results.

Design

Frame

The first design of the final project was created in week 02 of the Fabacademy journey. In this instance the frame outline was design and animated.

PCB

The design of the PCB was created in week 08 of the Fabacademy journey.



finished design of the front layer



finished design of the back layer

Fabrication

Frame

PCB

The production of the PCB was done in week 08 of the Fabacademy journey.





Programming

Testing

PCB

The testing for the PCB was done in week 08 of the Fabacademy journey.

Output Devices

The first test with the included output device can be find in week 09 of the Fabacademy journey.

The first test of the stepper motor included the moving of the stepper and connection to the board.

Input Devices

Result

Evaluation

Conclusion