Abstract
Twisted and Coiled Actuators (TCAs) are a class of new artificial muscles for flexible actuations. However, the existing TCAs are difficult to achieve large output force and long stroke simultaneously, which limits their application. In this paper, a Compound TCA (CTCA) based on spandex fibers and an SMA skeleton is developed. The spandex bundle is spirally wound on the surface of the SMA wire with large number of spiral turns, and the SMA skeleton forms a coil, which can produce additional contraction force for the CTCA owing to the shape memory effect of the SMA wire. To further improve the performance of CTCA, a pre-twisting process for spandex bundle is employed. An analytical model is established for pre-twisting turns based on the elastic rod theory to predict the critical pre-twisting turns with respect to the number of spandex fibers and the draw ratio of spandex bundle. Experiments are conducted to verify the accuracy of the critical pre-twisting turns analysis model. The CTCA fabricated by critical pre-twisting turns exhibits a maximum contraction strain of 44.4 \(\%\) under load of 350 g and a maximum thermal untwisting torque of 1.44 \(N \cdot mm\).
This work was supported in part by the Zhejiang Provincial Natural Science Foundation of China under Grants LD22E050008, in part by the National Natural Science Foundation of China under Grants U1909215.
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Zhang, H., Yang, G., Zhang, H., Zheng, T., Chen, T., Zhang, C. (2023). Model-Based Performance Enhancement for Compound Twisted and Coiled Actuators. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_2
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