Modeling of a Twisted and Coiled Polymer Muscle

A new type of polymeric artificial muscle was recently discovered. This muscle is based on twisted and coiled polymer fiber and is actuated thermally. It has interesting properties, such as low costs and high work densities. Based on fabrication methods, two variations can be considered. The autocoiled variation has a larger load capacity and the mandrel coiled variation achieves larger maximum contractions. This paper aims to model the force increase of a mandrel coiled variation by considering submodels in three physical domains. Multiple models are compared experimentally by the identification of parameters. The model which is considered to be best applicable is the extended Voigt model to describe force increase as function of imposed mechanical strain and temperature increase. The temperature increase is best modeled as a first order function of input power. The model is demonstrated to be of use in feedforward control and to observe muscle temperature.

Subject

TCPM
artificial muscle
modeling
control
parameter estimation

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http://resolver.tudelft.nl/uuid:11d02643-3a89-4015-80ea-ca4db49bdec6

Embargo date

2021-08-16

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Student theses

Document type

master thesis

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MasterThesis_BramSmit.pdf

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