模組化手搖編織器設計與氣動人工肌肉編織參數探討

Abstract

本研究針對氣動人工肌肉的柔性外套結構進行設計與性能分析，開發一套具針數與掛針樣式模組化調整功能的手搖編織器，並透過系統性實驗探討外套管編織參數對氣動肌肉行程與拉力之影響。首先以四款市售編織器為基礎進行結構比較與改良，最終選定 Embellish Knit 編織器並改裝為可調式針軌設計，實現不同針數與編織方式的快速切換。實驗中考量線材材質與直徑、針數、編織長度及內外管比例等變因，評估其對氣動肌肉之伸長率、支撐力與回復性的影響。 實驗結果顯示，外套管性能受多重編織參數交互影響，其中 1.5 mm 丙烯酸毛線在伸長與回復表現上最穩定，六針編織樣品在伸長率與支撐力之間展現最佳平衡。內外管比例越大則伸長率越高，掛針結構則能進一步提升外套管的回復性與橫向彈性。綜合評估後，最適設計參數組合為使用 1.5 mm 丙烯酸毛線，以六針針軌編織 50 圈，內外管長度比例為-25%。此組合製成之氣動肌肉於 0.3 MPa 時可達50%伸長率與 5 N 支撐力，並展現良好的重現性與穩定性。研究成果不僅建立可再現之實驗流程與編織設計準則，亦為未來柔性致動器與輔具應用提供可擴充之開發機構。

This study focuses on the design and performance analysis of the knitted outer sleeve structure of pneumatic artificial muscles (PAMs). A modular knitting machine was developed with adjustable needle number and tuck stitch patterns. Through systematic experiments, the influence of knitting parameters on the deformation behavior and mechanical performance of the PAMs was evaluated. Based on a comparative analysis of four commercial knitting devices, the Embellish Knit was selected and modified to allow interchangeable needle rails, enabling switching between different configurations. The experimental variables included yarn material and diameter, number of needles, knitting length, and the length ratio between inner and outer tubes. Results indicate that the mechanical behavior of the knitted sleeve is influenced by the interaction of multiple parameters. Among tested combinations, the 1.5 mm acrylic yarn exhibited the most stable elongation and recovery characteristics. The six-needle configuration provided the best balance between elongation and supporting force. A greater length difference between inner and outer tubes increased extension rate, while the introduction of tuck stitches further improved recovery and transverse elasticity. The optimal design was identified as using 1.5 mm acrylic yarn with six needles, knitted for 50 rounds, and an inner tube 75% the length of the outer tube. This configuration achieved 50% elongation and 5 N supporting force at 0.3 MPa with high repeatability. The proposed platform offers a reproducible experimental process and design framework, providing a promising foundation for the future development of wearable assistive devices and soft robotic actuators.