A robotic finger driven by twisted and coiled polymer actuator

Previous studies reported that a twisted and coiled polymer actuator (TCA) generates strong force and large stroke by heating. Nylon 6,6 is known to be the most suitable polymer material for TCA because it has high thermal expansion ratio, high softening point and high toughness which is able to sustain gigantic twisting. In order to find the optimal structure of TCA fabricated with silver-coated nylon sewing threads, an equipment for twist-insertion (structuralization), composed of single DC motor, a slider fabricated by 3D printer and a body frame, is developed. It can measure the behaviors of TCAs as well as fabricate TCAs with desired characteristics by structuralizing fibers with controlled rotation per minutes (RPM) and turns. Comparing performances of diverse structures of TCAs, the optimal structure for TCA is found. For the verification of the availability of the optimal TCA, a TCA-driven biomimetic finger is developed. Finally, we successfully demonstrate the flexion/extension of the finger by using the actuation of TCAs.

[1]  Hosang Jung,et al.  Printable monolithic hexapod robot driven by soft actuator , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[2]  Robert J. Wood,et al.  Compliant Modular Shape Memory Alloy Actuators , 2010, IEEE Robotics & Automation Magazine.

[3]  Yonas Tadesse,et al.  Nylon-muscle-actuated robotic finger , 2015, Smart Structures.

[4]  Daniela Rus,et al.  Compliant Modular Shape Memory Alloy Actuators: Composable Flexible Small Actuators Built from Thin Shape Sheets , 2010 .

[5]  B. Tondu.  Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action , 2014 .

[6]  Ron Pelrine,et al.  Ultrahigh strain response of field-actuated elastomeric polymers , 2000, Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[7]  M. Wehner,et al.  Experimental characterization of components for active soft orthotics , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[8]  Michael C. Yip,et al.  High-performance robotic muscles from conductive nylon sewing thread , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[9]  Hironari Taniguchi,et al.  Flexible Artificial Muscle Actuator Using Coiled Shape Memory Alloy Wires , 2013 .

[10]  Rocco Vertechy,et al.  Experimental characterization of a new class of polymeric-wire coiled transducers , 2015, Smart Structures.

[11]  Byungkyu Kim,et al.  Analysis of mechanical characteristics of the ionic polymer metal composite (IPMC) actuator using cast ion-exchange film , 2003, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[12]  R. Wood,et al.  Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators , 2013, IEEE/ASME Transactions on Mechatronics.

[13]  Hoon Cheol Park,et al.  Performance Improvement of IPMC (Ionic Polymer Metal Composites) for a Flapping Actuator , 2006 .

[14]  Ian W. Hunter,et al.  Simple and strong: twisted silver painted nylon artificial muscle actuated by Joule heating , 2014, Smart Structures.

[15]  Milind Pandit,et al.  Variable stiffness and recruitment using nylon actuators arranged in a pennate configuration , 2015, Smart Structures.

[16]  Carter S. Haines,et al.  Artificial Muscles from Fishing Line and Sewing Thread , 2014, Science.

[17]  Cagdas D. Onal,et al.  Feedforward augmented sliding mode motion control of antagonistic soft pneumatic actuators , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).