Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance

Ken Masuya, Shu Ono, Kentaro Takagi, Kenji Tahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages779-784
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - Aug 21 2017
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: Jul 3 2017Jul 7 2017

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period7/3/177/7/17

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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