High-performance artificial muscle is of great interest to robotics community. In this study, we investigate the influence of pre-stress on fishing line artificial muscle's tensile stroke. Fishing line artificial muscles with electrothermal actuation were made from nylon 6 mono-filament and resistance wires. The tensile stroke in time domain was found to exhibit different actuation behavior under different levels of pre-stress in spring-load test. The supplied current was kept constant through all the experimental tests to investigate the effect of prestress on the artificial muscle performance. The presented study provided new insight into implementation of fishing line artificial muscle towards robotic applications, especially regarding how to choose appropriate pre-stress for muscle integration.
This paper describes the design and manufacturing of a modular actuator unit based on twisted and coiled polymer actuator. Twisted and coiled polymer actuators have attracted attention in the field of smart actuators and robotics. The proposed concept allows for the improvement of the response time of the twisted and coiled polymer actuator by incorporating active cooling method. This realization results in the development of modular actuator unit for bio-robotic system. The modular actuator unit consist of several twisted and coiled polymer actuators, a 3D printed frame and DC fans. The design and manufacturing of such modular actuator unit will be discussed in detail. Preliminary results about the performance of the twisted and coiled polymer actuators will also be presented.
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