Position and Force Control of a Twisted and Coiled Polymeric Actuator

Wu, Chunbing; Zheng, Weiming

doi:10.1109/access.2020.3011731

Cited by 9 publications

(5 citation statements)

References 38 publications

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“…When TCAMs is under electrical stimulation, the resistance will convert the applied electricity into heat energy. Then, we use Newton's law of cooling [9,22] to capture the relationship between temperature and the applied electricity…”

Section: Thermo-electrical Modelmentioning

confidence: 99%

Research on thermal actuation performance of twisted and coiled nylon artificial muscles based on yarn mechanics

Liu¹,

Zhang²,

Di³

et al. 2022

Smart Mater. Struct.

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Twisted and coiled artificial muscles (TCAMs) are recently introduced novelty structural actuators that offer outstanding performance.TCAMs consisting of nylon or other polymer fibers have the advantages of low cost, large stroke, and high power density, and can be used in the fields of robots and intelligent textiles. Manufacturing process and actuation conditions can significantly affect the spiral structure of the fiber. Therefore, it is particularly important to conduct research on the manufacturing mechanics of TCAMs for their future development and applications. In this paper, a modeling based on yarn mechanics and the energy method is established for exploring the actuation performance of TCAMs. Firstly, we analyze the effects of the preparation and actuation conditions on the helical structure of TCAMs. The relationship between the spiral structure and the fiber tension is obtained. Then, we investigated the effects of preparation conditions, actuation load, and operating temperature on the tensile stroke of TCAMs. For silver-coated nylon fibers, it is found that the driving performance of TCAMs decreased with the increase of suspension load. Finally, we verify the correctness of the model through experiments. Conversely, the present model can provide theoretical guidance for experimental research and optimized manufacturing of TCAMs.

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Section: Thermo-electrical Modelmentioning

confidence: 99%

Research on thermal actuation performance of twisted and coiled nylon artificial muscles based on yarn mechanics

Liu¹,

Zhang²,

Di³

et al. 2022

Smart Mater. Struct.

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“…(a) Twist insertion and coiling. The process parameters are similar to our previous works [38,39]: A DC motor was attached to one end of the fiber sample to insert twist continuously by motor rotating. A hanging weight of 300 g was fixed to the other end.…”

Section: Fabrication Processmentioning

confidence: 99%

“…Our previous work presented an elastic-rod-theory-based model to explain the quantitative relationship between stroke and fabrication load [38,39]. The elastic rod theory was used in the model to describe the relationship between twist-coiling process of TCP actuators and fabrication parameters (such as fabrication load).…”

Section: Modelling Tcp Actuatormentioning

confidence: 99%

A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Zhang

Zheng

2022

Machines

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Twisted and coiled polymer (TCP) actuators are becoming increasingly prevalent in soft robotic fields due to their powerful and hysteresis-free stroke, large specific work density, and ease of fabrication. This paper presents a soft crawling robot with spike-inspired robot feet which can deform and crawl like an inchworm. The robot mainly consists of two leaf springs, connection part, robot feet, and two TCP actuators. A system level model of a soft crawling robot is presented for flexible and effective locomotion. Such a model can offer high-efficiency design and flexible locomotion of the crawling robot. Results show that the soft crawling robot can move at a speed of 0.275 mm/s when TCP is powered at 24 V.

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“…Helix-shaped TCP actuators can generate stresses of up to 19 MPa. Ample research is being conducted on further investigating and improving the actuation mechanism [36], developing a control model [299,300] and creating applications [301,302]. With regards to their textile application, TCP muscles are highly promising.…”

Section: Twisted and Coiled Polymer (Tcp) Actuatorsmentioning

confidence: 99%

Fundamentals and working mechanisms of artificial muscles with textile application in the loop

Grellmann

Lohse

Kamble

et al. 2021

Smart Mater. Struct.

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Natural muscles, that convert chemical energy derived from glucose into mechanical and thermal energy, are capable of performing complex movements. This natural muscle power was the only way to perform mechanical work in a targeted manner for millions of years. In the course of thousands of years of technical development, mankind has succeeded in harnessing various physical and chemical phenomena to drive specific mechanical processes. Wind and water power, steam and combustion engines or electric motors are just a few examples. However, in order to make the diversity and flexibility of natural motion patterns usable for machines, attempts have been made for many years to develop artificial muscles. These man-made smart materials are able to react to environmental conditions by significantly changing their shape or size. For the design of effective artificial muscles that closely resemble the natural original, the usage of textile technology offers great advantages. By means of weaving, individual actuators can be parallelized, which enables the transmission of greater forces. By knitting the maximum stretching performance can be enhanced by combining the intrinsic stretching capacity of the actuators with the structural-geometric stretching capacity of the fabric. Furthermore textile production techniques are well suited for the requirement-specific, individual placement of actuators in order to achieve the optimal geometry for the respective needs in every load case. Ongoing technical development has created fiber based and non-fibrous artificial muscles that are capable of mimicking and even out-performing their biological prodigy. Meanwhile, a large number of partly similar, but also very different functional principles and configurations were developed, each with its own specific characteristics. This paper provides an overview of the relevant and most promising technical approaches for realising artificial muscles, classifies them to specific material types and explains the mechanisms used as well as the possible textile applications.

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Position and Force Control of a Twisted and Coiled Polymeric Actuator

Cited by 9 publications

References 38 publications

Research on thermal actuation performance of twisted and coiled nylon artificial muscles based on yarn mechanics

Research on thermal actuation performance of twisted and coiled nylon artificial muscles based on yarn mechanics

A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Fundamentals and working mechanisms of artificial muscles with textile application in the loop

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