Fabrication Parameters and Performance Relationship of Twisted and Coiled Polymer Muscles

Abstract

Twisted and Coiled Polymer (TCP) muscles are soft actuators made by inserting twist in a precursor fiber while attaching a dead weight at the end, followed by heat treatment. TCP muscles are thermally driven actuators with high power to weight ratio, large strain and low cost. These muscles have a wide variety of applications in engineering, specifically for robotics since these actuators have large linear deformation in response to applied power (Joule’s Effect). The performance of these muscles depend on numerous fabrication parameters such as speed of the coiling, dead weight used, precursor fiber type, number of filament in precursor fiber, number of plies and training cycles. An in-depth study of the fabrication parameters is required to understand the performance of the muscles. We have designed experimental setup to study the performance of the muscles on different input parameters such as load, current, voltage and output results such as displacement, force and temperature. We present the study of single, double and tripled plied muscles that are fabricated by plying together a twisted and coiled filament. Further, the power consumption of the muscles under various conditions is discussed. This study would help to establish a procedure to fabricate these materials with consistent properties.