Abstract
Soft actuators are essential components for soft robots. In this paper, a new fully compliant electroactive bistable actuator is developed based on minimum energy structures and the angle amplification mechanism, and it is coupled with the electroactive artificial muscle (Twisting & Coiled Polymer Fiber, TCPF) for electrical activation. Two TCPFs are arranged antagonistically to realize bistable snapping in the actuator that is capable of good discrete deformation stability. The experimental results verify the design purpose and repeatable actuation positioning is attained in the bistable snapping process. This actuator offers a potential advantage for soft robots of binary motion.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Trivedi, D., Rahn, C.D., Kier, W.M., Walker, I.D.: Soft robotics: biological inspiration, state of the art, and future research. Appl. Bionics Biomech. 5, 99–117 (2008)
Gu, G.Y., Zhu, J., Zhu, L.M., Zhu, X.: A survey on dielectric elastomer actuators for soft robots. Bioinspir. Biomim. 12, 011003 (2017)
Lee, C., et al.: Soft robot review. Int. J. Control Autom. Syst. 15(1), 3–15 (2016). https://doi.org/10.1007/s12555-016-0462-3
Jani, J.M., Leary, M., Subic, A., Gibson, M.A.: A review of shape memory alloy research, applications and opportunities. Mater. Des. 1980–2015(56), 1078–1113 (2014)
Cui, Y.S., et al.: Takeuchi, combinatorial search of thermoelastic shape-memory alloys with extremely small hysteresis width. Nat. Mater. 5, 286–290 (2006)
Seelecke, S., Müller, I.: Shape memory alloy actuators in smart structures: Modeling and simulation. Appl. Mech. Rev. 57, 23–46 (2004)
Zhao, P., Chen, H., Li, B., Tian, H., Lai, D., Gao, Y.: Stretchable electrochromic devices enabled via shape memory alloy composites (SMAC) for dynamic camouflage. Opt. Mater. 94, 378–386 (2019)
Gu, G., Zou, J., Zhao, R., Zhao, X., Zhu, X.: Soft wall-climbing robots. Sci. Robot. 3, eaat2874 (2018)
Li, T., et al.: Fast-moving soft electronic fish. Sci. Adv. 3, e1602045 (2017)
Tang, C., Li, B., Fang, H., Li, Z., Chen, H.: A speedy, amphibian, robotic cube: resonance actuation by a dielectric elastomer. Sens. Actuators A 270, 1–7 (2018)
Li, B., Cai, Y., Jiang, L., Liu, L., Zhao, Z., Chen, G.: A flexible morphing wing by soft wing skin actuation utilizing dielectric elastomer: experiments and electro-aerodynamic model. Smart Mater. Struct. 29, 015031 (2020)
Tang, Y., et al.: Leveraging elastic instabilities for amplified performance: spine-inspired high-speed and high-force soft robots. Sci. Adv. 6, eaaz6912 (2020)
Rothemund, P., et al.: A soft, bistable valve for autonomous control of soft actuators. Sci. Robot. 3, eaar7986 (2018)
Bhandari, B., Lee, G.-Y., Ahn, S.-H.: A review on IPMC material as actuators and sensors: fabrications, characteristics and applications. Int. J. Precis. Eng. Manuf. 13, 141–163 (2012)
Fang, B.-K., Ju, M.-S., Lin, C.-C.K.: A new approach to develop ionic polymer–metal composites (IPMC) actuator: fabrication and control for active catheter systems. Sens. Actuators A 137, 321–329 (2007)
Ding, H., Yang, X., Zheng, N., Li, M., Lai, Y., Wu, H.: Tri-Co Robot: a Chinese robotic research initiative for enhanced robot interaction capabilities. Natl. Sci. Rev. 5, 799–801 (2018)
Yang,Y., Tse, Y.A., Zhang, Y., Kan, Z., Wang, M.Y.: Paper Presented at the 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) (2019)
Wu, L., Chauhan, I., Tadesse, Y.: A novel soft actuator for the musculoskeletal system. Adv. Mater. Technol. 3, 1700359 (2018)
Wu, L., de Andrade, M.J., Saharan, L.K., Rome, R.S., Baughman, R.H., Tadesse, Y.: Compact and low-cost humanoid hand powered by nylon artificial muscles. Bioinspir. Biomim. 12, 026004 (2017)
Tang, X., Li, K., Liu, Y., Zhao, J.: Coiled conductive polymer fiber used in soft manipulator as sensor. IEEE Sens. J. 18, 6123–6129 (2018)
Hiraoka, M., et al.: Power-efficient low-temperature woven coiled fibre actuator for wearable applications. Sci. Rep. 6, 36358 (2016)
Tang, X., Li, K., Liu, Y., Zhou, D., Zhao, J.: A general soft robot module driven by twisted and coiled actuators. Smart Mater. Struct. 28, 035019 (2019)
Zhao, P., Xu, B., Zhang, Y., Li, B., Chen, H.: Study on the twisted and coiled polymer actuator with strain self-sensing ability. ACS Appl. Mater. Interfaces 12, 15716–15725 (2020)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Jiang, L., Zhang, Y., Ma, W., Chen, G., Li, B. (2021). Fully Compliant Electroactive Bistable Actuator Utilizing Twisting and Coiled Artificial Muscle. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_19
Download citation
DOI: https://doi.org/10.1007/978-3-030-89095-7_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89094-0
Online ISBN: 978-3-030-89095-7
eBook Packages: Computer ScienceComputer Science (R0)