Torque-compensated bundle of artificial muscle to generate large forces
Recently, owing to the significant advancement in the field of soft robots, various studies have been conducted on soft actuators. Among the several soft actuators, the double helix twisted and coiled actuator (DTCA), which is fabricated by coiling spandex and nylon under twisted conditions, exhibit...
| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IOP Publishing
2021-01-01
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| Series: | Materials Research Express |
| Subjects: | |
| Online Access: | https://doi.org/10.1088/2053-1591/ac2d6d |
| _version_ | 1827869196337283072 |
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| author | Kihyeon Kim Sang Yul Yang Jae Hyeong Park Ho Sang Jung Jung U Ko Seong Taek Hwang Ja Choon Koo Hyungpil Moon Hugo Rodrigue Hyouk Ryeol Choi |
| author_facet | Kihyeon Kim Sang Yul Yang Jae Hyeong Park Ho Sang Jung Jung U Ko Seong Taek Hwang Ja Choon Koo Hyungpil Moon Hugo Rodrigue Hyouk Ryeol Choi |
| author_sort | Kihyeon Kim |
| collection | DOAJ |
| description | Recently, owing to the significant advancement in the field of soft robots, various studies have been conducted on soft actuators. Among the several soft actuators, the double helix twisted and coiled actuator (DTCA), which is fabricated by coiling spandex and nylon under twisted conditions, exhibits considerable performance in terms of large contractile force/strain and Joule heating capability. However, the DTCA still cannot produce sufficient force for large-scale applications. Bundling the DTCA in parallel is a well-known solution to improve the force. However, excessive bundling results in unnecessary torque, which causes friction in the entire system. In this paper, we propose a DTCA bundle that can generate a significantly higher force than that previously observed in the field of soft robotics. The proposed bundle compensates for the uncoiling torque by bundling DTCAs fabricated in opposite directions. The fabrication conditions were modified experimentally to satisfy the equivalent performance of each type of DTCA. Consequently, they exhibited as similar performance, including the uncoiling torque with an error of less than 8%. |
| first_indexed | 2024-03-12T15:42:30Z |
| format | Article |
| id | doaj.art-d122b01814564985ad3af794e33dc1fb |
| institution | Directory Open Access Journal |
| issn | 2053-1591 |
| language | English |
| last_indexed | 2024-03-12T15:42:30Z |
| publishDate | 2021-01-01 |
| publisher | IOP Publishing |
| record_format | Article |
| series | Materials Research Express |
| spelling | doaj.art-d122b01814564985ad3af794e33dc1fb2023-08-09T15:56:43ZengIOP PublishingMaterials Research Express2053-15912021-01-0181111530110.1088/2053-1591/ac2d6dTorque-compensated bundle of artificial muscle to generate large forcesKihyeon Kim0https://orcid.org/0000-0002-0336-3072Sang Yul Yang1Jae Hyeong Park2Ho Sang Jung3Jung U Ko4Seong Taek Hwang5Ja Choon Koo6Hyungpil Moon7Hugo Rodrigue8Hyouk Ryeol Choi9https://orcid.org/0000-0003-2902-7453School of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University , Suwon, Republic of KoreaRecently, owing to the significant advancement in the field of soft robots, various studies have been conducted on soft actuators. Among the several soft actuators, the double helix twisted and coiled actuator (DTCA), which is fabricated by coiling spandex and nylon under twisted conditions, exhibits considerable performance in terms of large contractile force/strain and Joule heating capability. However, the DTCA still cannot produce sufficient force for large-scale applications. Bundling the DTCA in parallel is a well-known solution to improve the force. However, excessive bundling results in unnecessary torque, which causes friction in the entire system. In this paper, we propose a DTCA bundle that can generate a significantly higher force than that previously observed in the field of soft robotics. The proposed bundle compensates for the uncoiling torque by bundling DTCAs fabricated in opposite directions. The fabrication conditions were modified experimentally to satisfy the equivalent performance of each type of DTCA. Consequently, they exhibited as similar performance, including the uncoiling torque with an error of less than 8%.https://doi.org/10.1088/2053-1591/ac2d6dsoft actuatorsoft robotsartificial muscletwisted and coiled actuator |
| spellingShingle | Kihyeon Kim Sang Yul Yang Jae Hyeong Park Ho Sang Jung Jung U Ko Seong Taek Hwang Ja Choon Koo Hyungpil Moon Hugo Rodrigue Hyouk Ryeol Choi Torque-compensated bundle of artificial muscle to generate large forces Materials Research Express soft actuator soft robots artificial muscle twisted and coiled actuator |
| title | Torque-compensated bundle of artificial muscle to generate large forces |
| title_full | Torque-compensated bundle of artificial muscle to generate large forces |
| title_fullStr | Torque-compensated bundle of artificial muscle to generate large forces |
| title_full_unstemmed | Torque-compensated bundle of artificial muscle to generate large forces |
| title_short | Torque-compensated bundle of artificial muscle to generate large forces |
| title_sort | torque compensated bundle of artificial muscle to generate large forces |
| topic | soft actuator soft robots artificial muscle twisted and coiled actuator |
| url | https://doi.org/10.1088/2053-1591/ac2d6d |
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