The effects of fiber load and frictional work on fatigue behavior of water hydraulic artificial muscles in underwater environment

Water Hydraulic Artificial Muscles (WHAMs) exhibit characteristics of high pressure and substantial load capacity. In previous work, the fatigue life of WHAMs under elastic load has been investigated, and experimental results have indicated that the fatigue life is related to both fiber load and frictional work. To individually investigate the impact of fiber load and frictional work on the fatigue life of WHAMs, an experimental scheme was designed to test the fatigue life under different levels of fiber load and frictional work. Meanwhile, the working pressure and contraction range were determined for various working conditions, in order to assess their effects on the fatigue life of WHAMs. The W-test confirms that the fatigue life of WHAMs under each working condition follows a normal distribution. Based on the experimental results, the influence of fiber load and frictional work on fatigue life was analyzed. And the experimental results indicate that the impact of fiber load on the fatigue life of WHAMs is approximately three times greater than that of frictional work. Furthermore, substituting aramid 1414 fiber with aramid 3 fiber in the fiber sleeve led to a substantial increase in fatigue life, elevating the average fatigue life to more than 4 times. Based on the power-law model, a fatigue model of WHAM is established with fiber load and frictional work as factors. The relative error between the fatigue model and experimental results in previously published work demonstrates that the new fatigue model can accurately predict the fatigue life of WHAMs. • The fatigue life of WHAMs is influenced by decoupling factors of the fiber-sleeve load and the frictional work. • A novel model is proposed to predict the fatigue life of WHAMs under different fiber-sleeve load and frictional work. • Substituting aramid 1414 with aramid 3 leads to a significant enhancement in fatigue life.