The present study deals with static modeling and analysis of a novel electro-pneumatic braided muscle (EPBM) actuator. The EPBM actuator is a hybrid McKibben-type actuator, made of a dielectric polymeric bladder enclosed in a braided mesh sleeve. A continuum mechanics-based electromechanical model is developed to predict the response of the actuator for a combined pressure and voltage loading. The model also incorporates braid-to-braid frictional effects. The model agrees well with existing experimental results for the special case of zero input voltage. Parametric studies are subsequently performed for varying braid angle, input pressure, and voltage. Finally, the model is utilized to study the impact of fiber-reinforcement in the bladder on the actuator performance.
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