Journal article
Dynamic model for the tensile actuation of thermally and electro-thermally actuated twisted and coiled artificial muscles (TCAMs)
Smart materials and structures, Vol.29(2), 25004
12/19/2019
DOI: 10.1088/1361-665X/ab5e38
Abstract
Twisted and coiled artificial muscles (TCAMs) represent an emerging class of actuators. These lightweight muscles provide high power/weight ratio, close to that of skeletal muscles, and can substitute heavy electromagnetic and pneumatic motors in applications requiring low weight, fine motion, and high contractile work. In a recent work we proposed a theoretical model to describe the static behavior of electro-thermally actuated TCAMs. In this study we use the previous static formulation to develop a physics-based dynamic model able to estimate the time varying tensile actuation of TCAMs, according to a specific thermal and electro-thermal input. The proposed model is experimentally validated on a new type of low-cost TCAMs that we recently developed from Carbon Fibers and Silicone Rubber (CF/SR). Satisfactory agreement is shown between the theoretical predictions and the experimental results (maximum errors of 3.4% and 13% are measured on the TCAMs displacement during heating and cooling, respectively). The proposed dynamic model allows to describe the time-varying actuation of TCAMs, fundamental to analyze their response to time-varying phenomena such as high frequency inputs, disturbances, or noises injected into the system. This model represents a useful tool for the design and control of TCAMs-based devices, for applications ranging from the robotic to the biomedical field.
Details
- Title: Subtitle
- Dynamic model for the tensile actuation of thermally and electro-thermally actuated twisted and coiled artificial muscles (TCAMs)
- Creators
- Valentina Giovinco - University of CalabriaParth Kotak - University of IowaVenanzio Cichella - University of IowaCarmine Maletta - University of CalabriaCaterina Lamuta - University of Iowa
- Resource Type
- Journal article
- Publication Details
- Smart materials and structures, Vol.29(2), 25004
- DOI
- 10.1088/1361-665X/ab5e38
- ISSN
- 0964-1726
- eISSN
- 1361-665X
- Publisher
- IOP Publishing
- Number of pages
- 9
- Grant note
- N00014-19-1-2136 / Office of Naval Research Global (https://doi.org/10.13039/100007297)
- Language
- English
- Date published
- 12/19/2019
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984196614702771
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