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

Wu, Chunbing; Zhang, Zhuang; Chen, Genliang; Zheng, Weiming

doi:10.2139/ssrn.3985927

Cited by 1 publication

(2 citation statements)

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“…Experimental results confirm the theoretical model given by equation (7). which predicts a logarithmic change in output power loss with an increase in the number of coils [22]. That shows the cumulative behaviour of macro-bending loss.…”

Section: Resultssupporting

confidence: 83%

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Strain and temperature sensors made from fishing lines

Stanojevic¹,

Chauhan²

2022

Eng. Res. Express

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Soft and flexible sensors are demanded in a wide variety of wearables and soft-robotic applications. We designed and developed novel integrated strain and temperature sensors using super-coiled transparent polymer fibres as an optical waveguide by exploiting changes in macro-bending optical losses induced by strain or heat. Polymers used in this research such as nylon and fluorocarbon are shaped as super-coils. The customized optical couplings were designed that can sustain tension induced by axial strain force or thermal stress (entropic spring effect). A customized method of transmission and measurement of the optical signal transferred through a super-coiled polymeric waveguide was designed to reduce attenuation losses. Transmitted optical signal were recorded in the . Changes in the measured transmitted optical signal were recorded and comparedfor transparent mono-filament nylon fibre fishing line and fluorocarbon fibre fishing line. The trends of the measured parameters registered during the testing period showed a variation of ~2%, good linearity and repeatability, however with minor hysteresis in the range of ~4% for nylon and in the range of ~2.5% for fluorocarbon. Limited optical characteristics of these materials were compensated and substituted by high sensitivity introduced by a small macro-bend radius. These sensing devices combine high sensitivity with large comparative strain and a wide range of temperatures. Polymers used in this research exhibit the potential for use in SCP waveguide-based soft robotic sensors. Measured reaction times validate the potential of these sensors in measurements of moderate or slow speed processes. These sensing devices also combine a simple manufacturing process that uses abundant and cost-effective materials with a wide array of potential applications.

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Section: Resultssupporting

confidence: 83%

“…In the ensuing signals, all these losses are cumulative. They are represented as a logarithmic function of the length or number of coils [15,22,23]. The majority of loss happens in the first few millimetres of the waveguide or within the first coil of the super-coil.…”

Section: Methodsmentioning

confidence: 99%

Strain and temperature sensors made from fishing lines

Stanojevic¹,

Chauhan²

2022

Eng. Res. Express

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

Cited by 1 publication

References 31 publications

Strain and temperature sensors made from fishing lines

Strain and temperature sensors made from fishing lines

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