Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles

Master thesis (2017)

Authors

M. Röling Mechanical Engineering

Contributors

H. Vallery (mentor)
Faculty
Mechanical Engineering, Mechanical Engineering
Copyright: © 2017 Marloes Röling
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Published Date

27-11-2017

Language

English

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Faculty

Mechanical Engineering

Abstract

The Twisted and Coiled Polymer Muscle (TCPM) is a new, light weight compliant actuator that is easy and inexpensive to produce. As a result there is a growing body of research, with the goal of implementation of the TCPM. Our research combines two existing fields: 1. Self-sensing, eliminating the need for an external force and displacement sensor. 2. Structures of multiple TCPMs. This research compares the effect of a series versus parallel electrical configuration on self-sensing in Joule heated TCPMs. Experiments show that both series and parallel connection are fit for self-sensing. Relative errors in series configuration are 6.7% 6.9% and 5.1% for respectively strain, temperature and force. Relative errors in parallel configuration are 8.3% 10.4% and 7.8%. These data show series configuration performs better on self-sensing accuracy. This is due to the 2-3dB difference in signal to noise ratio, in favour of series. In addition good repeatability was found in the mechanical behaviour of the TCPMs, with a variance in the spring constant that is smaller than 10% for all cases. This research therefore demonstrates good repeatability as well as accurate self-sensing in a structure in favour of a series electrical configuration.