15 April 2016 A robotic finger driven by twisted and coiled polymer actuator
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Abstract
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.
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Kyeong Ho Cho, Kyeong Ho Cho, Min Geun Song, Min Geun Song, Hosang Jung, Hosang Jung, Jungwoo Park, Jungwoo Park, Hyungpil Moon, Hyungpil Moon, Ja Choon Koo, Ja Choon Koo, Jae-Do Nam, Jae-Do Nam, Hyouk Ryeol Choi, Hyouk Ryeol Choi, } "A robotic finger driven by twisted and coiled polymer actuator", Proc. SPIE 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016, 97981J (15 April 2016); doi: 10.1117/12.2218957; https://doi.org/10.1117/12.2218957
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