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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Modeling of One-Ply and Two-Ply Twisted and Coiled Polymer Artificial Muscles
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Modeling of One-Ply and Two-Ply Twisted and Coiled Polymer Artificial Muscles

机译：单层扭曲和卷绕高分子人工肌肉的建模

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摘要

Twisted and coiled polymer (TCP) muscles are recently introduced thermal actuators that offer unprecedented performance. Merits such as low cost, high load capacity, and light weight make them suitable for robotics and biomechanics. Using these actuators for practical applications requires an understanding of their behavior in response to the electrical input. In this article, a physics-based model is proposed to predict the displacement of TCP muscles with respect to the input electrical energy and the applied load. We quantified effects of temperature on coefficients of thermal expansion and elastic modulus. It is found that the change of properties above the polymer glass transition temperature has a crucial effect on the actuator performance. A stiffness model is proposed, which include the effect of change in geometry and elastic modulus of TCP muscles. Finally, a set of equations for simulating the TCP muscles are formulated in discrete time representation. The model is generalized for the two-ply case by considering the difference in geometry. The accuracy of the model is tested in comparison with experimental data, acquired at several actuation levels and applied loads, for both one-ply and two-ply configurations. The model showed a good accuracy in predicting the behavior of the actuators both in temperature and displacement. Our model was also compared with other representative models and revealed improvement in the prediction accuracy.
机译：最近引入了扭曲和盘绕的聚合物（TCP）肌肉，引入了提供前所未有的性能的热执行器。低成本，高负载能力和重量轻的优点使它们适用于机器人和生物力学。使用这些执行器进行实际应用需要了解其行为以响应电输入。在本文中，提出了一种基于物理的模型来预测TCP肌肉相对于输入电能和施加的负载的位移。我们量化温度对热膨胀系数和弹性模量的影响。发现高于聚合物玻璃化转变温度的性能变化对致动器性能具有至关重要的影响。提出了一种刚度模型，包括改变几何形状和TCP肌肉弹性模量的影响。最后，在离散时间表示中配制了用于模拟TCP肌肉的一组方程。通过考虑几何形状的差异，模型是针对双层案例的。与在几个致动水平和施加的载荷的实验数据相比，测试模型的准确性和施加的载荷，适用于单层和两层配置。该模型在预测温度和位移中的致动器的行为方面表现出良好的准确性。我们的模型也与其他代表模型进行了比较，并揭示了预测准确性的提高。

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