TY - GEN
T1 - Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance
AU - Masuya, Ken
AU - Ono, Shu
AU - Takagi, Kentaro
AU - Tahara, Kenji
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by “Research and development of Flexible Human Motion Support Device by using Polymeric Artificial Muscle Actuator” in Innovative Robotics Elemental Technology Field / Development of Next Generation Robotics Core Technology, the New Energy and Industrial Technology Development Organization (NEDO) and also partially supported by JSPS KAKENHI Grant Number JP17H03204.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - This paper proposes a novel dynamics model of the twisted and coiled polymer actuator (TCPA) which is one of the artificial muscles recently discovered. It can be driven by Joule heating and can contract up to 25%. Most of the conventional works employed the linear model of TCPA which represents the relationships between the input voltage, the temperature, and the displacement, but the real TCPA shows the nonlinearity. Although a nonlinear model was proposed based on the curve fitting, it is difficult to apply the model to the various TCPAs. Additionally, the conventional works cannot explain the effect of the convective heat transfer condition on the displacement behavior of TCPA. This paper aims to construct a general nonlinear model of TCPA based on the following two ideas: (1) The energy balance of TCPA and (2) the temperature and velocity dependence of the heat transfer coefficient. The temperature model is obtained from the time derivative of the energy balance, and the displacement model is derived as Lagrange's equation of motion with the dissipation function. Through experiments, it is verified that the proposed model is closer to the real dynamics than the conventional linear model.
AB - This paper proposes a novel dynamics model of the twisted and coiled polymer actuator (TCPA) which is one of the artificial muscles recently discovered. It can be driven by Joule heating and can contract up to 25%. Most of the conventional works employed the linear model of TCPA which represents the relationships between the input voltage, the temperature, and the displacement, but the real TCPA shows the nonlinearity. Although a nonlinear model was proposed based on the curve fitting, it is difficult to apply the model to the various TCPAs. Additionally, the conventional works cannot explain the effect of the convective heat transfer condition on the displacement behavior of TCPA. This paper aims to construct a general nonlinear model of TCPA based on the following two ideas: (1) The energy balance of TCPA and (2) the temperature and velocity dependence of the heat transfer coefficient. The temperature model is obtained from the time derivative of the energy balance, and the displacement model is derived as Lagrange's equation of motion with the dissipation function. Through experiments, it is verified that the proposed model is closer to the real dynamics than the conventional linear model.
UR - http://www.scopus.com/inward/record.url?scp=85028762121&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85028762121&partnerID=8YFLogxK
U2 - 10.1109/AIM.2017.8014112
DO - 10.1109/AIM.2017.8014112
M3 - Conference contribution
AN - SCOPUS:85028762121
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 779
EP - 784
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 2 July 2017 through 6 July 2017
ER -