Development of an Artificial Muscle from Coiled Polymer Fibers for Humanoid Robotics Applications
A. Kalysheva, Z. Zhapar, K. Tulkibayeva, M. Folgheraiter
Nazarbayev University, Astana, Kazakhstan
Humanoid robotics aims at developing anthropomorphic robots able to move in environments and to manipulate tools that are designed specifically for human beings. The high number of DOFs required in a humanoid robot demands for compact and high power-to-weight ratio actuators. Among all the possible technologies, artificial muscles have the additional advantages to be flexible, lightweight, and to provide linear movement suitable for a human-like robotic system. Existing types of artificial muscles used in robotics and other automated systems are expensive and technically limited due to hysteresis, scalability and performance efficiency. Inspired by a recent discovery of artificial muscles made of common twisted fishing line, the goal of this study is to develop a lowcost thermally controlled actuator suitable for humanoid robotic applications. The experimental setup consists of a twisted fiber of nylon with a diameter of 1mm pre-tensioned and connected in series with a force sensor. The material is heated up thanks to a NiChrome (NiCr) wire inserted axially into the polymeric fiber. The temperature is measured and controlled thanks to a small NTC thermistor kept in contact to the NiCr wire. Different experiments were conducted in order to measure the dynamic response of the artificial muscle as well as the force-temperature characteristic in static conditions.
ACTUATOR 2016 Manuscript P 28
Publication date: 01/06/2016
Manuscript P 28 published in Conference Proceedings ACTUATOR 2016
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