A Modeling of Twisted and Coiled Polymer Artificial Muscles Based on Elastic Rod Theory

Wu, Chunbing; Zheng, Weiming

doi:10.3390/act9020025

Cited by 23 publications

(25 citation statements)

References 39 publications

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“…The average modeling error is less than 2% when different fabrication load is applied. The influence of different parameters has been discussed in our previous work [31]. Similarly, according to our previous work [31], the force response F of the TCP is relative to temperature T and can be expressed as:…”

Section: B Thermo-mechanical Modelmentioning

confidence: 93%

“…In our previous work [31], an elastic-rod-theory-based model was established for explaining the quantitative relationship between tensile actuation and fabrication load. We adopted the theory of elastic bar and identified the critical load and twist of coils forming as key factors, considering these fabrication parameters when deriving the actuation equations of TCP muscles.…”

Section: B Thermo-mechanical Modelmentioning

confidence: 99%

“…3(a) consist of an aluminum frame, a DC motor, a dead weight (300g) and some 3D-printed components. According to our previous works [31], a weight of 300 g was used here to obtain best performance of TCP muscles. In this study, we used conductive silver coated Nylon 6 fiber (product number: 40024104600, Shieldex®, diameter: 0.6 mm, lineal resistance: 50 Ω/m, mass: 0.37 g/m) to fabricate TCP muscle.…”

Section: B Fabrication Processmentioning

confidence: 99%

“…The contraction force was measured with a micro force sensor (JLBS-M2, Jnsensor©). From our previous work [31], break and inter-coil contact of TCP actuators could be avoided when the force is in the range of 2.85 MPa-5.95 MPa. Thus , three force levels (3.0 MPa, 3.5 MPa, 4.0 MPa) were tracked at constant strain of (10%, 20%, 30%) respectively to test the performance of the controllers.The experimental results of closed-loop force control is also shown in Fig.…”

Section: E Closed-loop Force Controlmentioning

confidence: 99%

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Position and Force Control of a Twisted and Coiled Polymeric Actuator

Zheng

2020

IEEE Access

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Twisted and coiled polymer (TCP) actuator has many advantages such as high contraction capability, high work density, low cost materials, and easiness of fabrication, making it promising for applications in biomedical devices, soft robotic, and energy-harvesting equipment. However, convenient and effective control of TCP actuators still remain some challenges. In this paper, we use an accurate straintemperature and force-temperature model of TCP actuators to design a simple and efficient closed-loop PID control system. The validity of the proposed controllers is investigated through numerical simulations and experiments. The results show good control performance with minimum tracking errors which is less than 3% in our work. Such accuracy is ideal for many engineering fields and robotic designs.

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Section: B Thermo-mechanical Modelmentioning

confidence: 93%

Section: B Thermo-mechanical Modelmentioning

confidence: 99%

Section: B Fabrication Processmentioning

confidence: 99%

Section: E Closed-loop Force Controlmentioning

confidence: 99%

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Position and Force Control of a Twisted and Coiled Polymeric Actuator

Zheng

2020

IEEE Access

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“…Resins [65], functionalized PCL [66], functionalized PLA [67], polyurethan, wax [48], DiAPLEX [68], other polymers [69,70] Magnetization Elastomers [71][72][73], resin [74], SMP (DiAPLEX [68], other [74]), low melting point alloy (LMPA) (Cerrolow 117) [75], magnet [75,76], magnetic particles [68,[71][72][73][74] Liquid Crystal (LC) LCE [77][78][79][80][81][82][83][84], LCN [85][86][87] Dielectric Elastomer Actuator (DEA) Elastomers [88], LCE [89], polyethylene [90] Twisted and Coiled Polymer (TCP) Nylon 6,6 [91][92][93], polyethylene [91] Ionic Polymer Metal Composite (IPMC)…”

Section: Shape Memory Polymer (Smp)mentioning

confidence: 99%

Programmable Stimuli-Responsive Actuators for Complex Motions in Soft Robotics: Concept, Design and Challenges

et al. 2020

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During the last years, great progress was made in material science in terms of concept, design and fabrication of new composite materials with conferred properties and desired functionalities. The scientific community paid particular interest to active soft materials, such as soft actuators, for their potential as transducers responding to various stimuli aiming to produce mechanical work. Inspired by this, materials engineers today are developing multidisciplinary approaches to produce new active matters, focusing on the kinematics allowed by the material itself more than on the possibilities offered by its design. Traditionally, more complex motions beyond pure elongation and bending are addressed by the robotics community. The present review targets encompassing and rationalizing a framework which will help a wider scientific audience to understand, sort and design future soft actuators and methods enabling complex motions. Special attention is devoted to recent progress in developing innovative stimulus-responsive materials and approaches for complex motion programming for soft robotics. In this context, a challenging overview of the new materials as well as their classification and comparison (performances and characteristics) are proposed. In addition, the great potential of soft transducers are outlined in terms of kinematic capabilities, illustrated by the related application. Guidelines are provided to design actuators and to integrate asymmetry enabling motions along any of the six basic degrees of freedom (translations and rotations), and strategies towards the programming of more complex motions are discussed. As a final note, a series of manufacturing methods are described and compared, from molding to 3D and 4D printing. The review ends with a Perspectives section, from material science and microrobotic points of view, on the soft materials’ future and close future challenges to be overcome.

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