This letter introduces the development and analysis of a hyperboloidal pneumatic artificial muscle (h-PAM) utilizing braided straight fibers, aimed at overcoming the limitations of traditional pneumatic artificial muscles (PAMs). The novel design features a hyperboloidal rubber tube coupled with a braided shell of straight fibers, enhancing both contraction performance and flexibility, a significant advantage particularly for shorter muscles. Through deformation simulations, we have demonstrated that critical performance metrics such as contraction ratio, radius expansion ratio, and contraction force can be effectively tailored by adjusting the height-to-radius ratio and the fiber's offset angle. The fabricated h-PAM prototype's performance was evaluated, showcasing its capability for contraction and flexibility even in compact forms, thus highlighting its potential as an actuator in soft robotics applications.

中文翻译：

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直纤维编织双曲面气动人工肌肉

这封信介绍了利用编织直纤维的双曲面气动人工肌肉（h-PAM）的开发和分析，旨在克服传统气动人工肌肉（PAM）的局限性。这种新颖的设计采用双曲面橡胶管与直纤维编织外壳相结合，增强了收缩性能和灵活性，这对于较短的肌肉来说尤其具有显着优势。通过变形模拟，我们证明了通过调整高度半径比和光纤的偏移角可以有效地定制收缩率、半径膨胀率和收缩力等关键性能指标。对所制造的 h-PAM 原型的性能进行了评估，即使在紧凑的形式下也展示了其收缩和灵活性的能力，从而突出了其作为软机器人应用中的执行器的潜力。