TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems

Abstract

The use of aerial systems in a variety of real applications is increasing nowadays. These offer solutions to existing problems in ways that have never seen before thanks to their capability to perform perching, grasping or manipulating in inaccessible or dangerous places. Many of these applications require small-sized robots that can maneuver in narrow environments. However, these are required to have also strength enough to perform the desired tasks. This balance is sometimes unreachable due to the fact that traditional servomotors are too heavyweight for being carried by such small unmanned aerial systems (UAS). This paper, offers a innovative solution based on twisted and coiled polymers (TCP) muscles. These tensors have a high weight/strength ratio (up to 200 times) compared with traditional servos. In this work, the practical and modeling work done by the authors is presented. Then, a preliminary design of a bio-inspired claw for an unmanned aerial system (UAS) is shown. This claw has been developed using additive manufacturing techniques with different materials. Actuated with TCP, it is intrinsically compliant and offers a great force/weight ratio.

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

“…Work from this challenge has been mention in the following section. [Fiaz et al, 2017, Fiaz et al, 2018, Gawel et al, 2017, Sutera et al, 2020, Bahnemann et al, 2017, Spurný et al, 2019 Medium Low High Vacuum [Kessens et al, 2019, Liu et al, 2020, Kessens et al, 2016, Tsukagoshi et al, 2015 Medium Medium High Tendon [Hingston et al, 2020, Gomez-Tamm et al, 2020, Fishman et al, 2021, Garcia Rubiales et al, 2021, McLaren et al, 2019, Pounds et al, 2011, Backus et al, 2014, Kruse and Bradley, 2018, Popek et al, 2018 Medium Medium Medium…”

“…Rigid Joints [Hingston et al, 2020, Gomez-Tamm et al, 2020, Pounds et al, 2011, Backus et al, 2014, Kruse and Bradley, 2018, Popek et al, 2018] Soft Joints [Fishman et al, 2021, Garcia Rubiales et al, 2021, McLaren et al, 2019…”

Bio-Inspired Morphing Tail for Flapping-Wings Aerial Robots Using Macro Fiber Composites

“…Some of the authors involved in this work have researched various alternative materials for performing actuation, trying to obtain the highest force/weight ratio, and removing traditional components from the aerial systems. In [12,13], some potential materials, which could be used as actuators, are presented and detailed. In [14,15], the application of a soft landing system for multirotors using 3D printed soft materials is shown.…”

“…There are various materials with high potential for being used in these types of applications. For example, Twisted and Coiled Polymers (TCP), as seen in [13], or shape memory alloys have the potential for being used as a closing mechanism in aerial manipulation.…”

SMA Actuated Low-Weight Bio-Inspired Claws for Grasping and Perching Using Flapping Wing Aerial Systems

“…Performing manipulation, even grasping an object or perching, is nearly impossible using traditional servomotors, as the weight/force ratio is limited. For that reason, some alternative actuation systems, based in different materials properties and mostly related to softrobotic applications have been studied [17], [18].…”