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McKibben actuators, comprised of an elastomeric tube wrapped in inextensible fibers, were developed in the 1950s and have been used primarily in pneumatic applications. Mc-Kibben actuators provide superior force and power density at a lower cost compared to many conventional actuators due to their simple design. This paper explores driving McKibben actuators with high-pressure hydraulics and reflects on some challenges associated with modeling the actuators at hydraulic pressures. Twelve actuators were designed, fabricated, and tested experimentally over a range of contraction ratios. Four modeling approaches were evaluated against experimental data including a new model that eliminates some of the limitations of existing models by predicting output force as a function of initial actuator geometry only and capturing the nonlinear variation in elastomer wall thickness as the actuator is strained. The experimental results suggest that the existing McKibben force models presented in this paper are not as accurate as the new model for tracking total axial force generation. The absolute value of the error from experimental values of each of the four models ranged from 9.1% for the new model developed in this paper to 9.9%, 10.0%, and 10.5% for the three other existing approaches, but the new model has unique advantages in modeling hydraulic McKibben actuators that require thicker tube walls. This study lays the ground work for future research in modeling soft robots comprised of compliant actuators powered hydraulically at high pressures. [ABSTRACT FROM AUTHOR]

A high pressure, efficient and power dense air compressor/expander is a critical element in an isothermal compressed air energy storage (ICAES) system. Heat transfer is often the limiting factor in realizing efficient and power dense compression and expansion processes. Liquid piston compressor/expanders with porous media inserts have been proposed, in which the porous media serves as heat exchangers. While this concept has been studied through modeling and simulation, it has only been validated experimentally at low pressures (10 bar). This paper studies experimentally the effect of porous media in a high pressure (7–210 bar) liquid piston air compressor/expander, which is the proposed pressure for the ICAES system. Cases with the porous media uniformly distributed and non-uniformly distributed in the chamber are studied with various compression and expansion rates. Results show that at 93% efficiency, the uniformly distributed 2.5 mm interrupted plate porous medium increases power density by 10 times in compression and 20 times in expansion; or at the same power, efficiency is increased by 13% in compression and 23% in expansion. Moreover, the porous medium, if deployed at the top of the chamber, is shown to be more effective than if deployed at the bottom. The results indicate that the added surface area provides the dominant benefits but the porous media also increase the heat transfer coefficient at the same efficiency regime. These results are consistent with and extend the findings from previous low pressure experiments. [ABSTRACT FROM AUTHOR]

The efficiency and power density of gas compression and expansion are strongly dependent on heat transfer during the process. Since porous media inserts can significantly increase heat transfer surface area, their addition to a liquid piston compressor/expander has been hypothesized to reduce the time to complete the compression or expansion process and hence the power density for a given thermodynamic efficiency; or to increase the thermodynamic efficiency at a fixed power density. This paper presents an experimental investigation on heat transfer with porous inserts during compression for a pressure ratio of 10 and during expansion for a pressure ratio of 6. A baseline case without inserts and five cases with different porous inserts are tested in a compression experiment: 3 interrupted ABS inserts with plate spacing of 2.5, 5, and 10 mm and 2 aluminum foam inserts sized with 10 and 40 pores per inch. The 2.5 mm and 5 mm interrupted plate inserts were also tested in expansion experiments. Porous inserts are found, in compression, to increase power-density by 39-fold at 95% efficiency and to increase efficiency by 18% at 100 kW / m 3 power density; in expansion, power density is increased three fold at 89% efficiency, and efficiency is increased by 7% at 150 kW / m 3 . Surface area increase is found to be the predominant cause in the improvement in performance. Thus, a liquid piston compressor/expander together with a porous medium may be used in applications requiring high compression ratios, high efficiencies, and high power density such as in an open-accumulator compressed air energy storage (CAES) system or a compressor for compressed natural gas (CNG). [ABSTRACT FROM AUTHOR]