Abstract
The number of applications of stimulus-responsive polymers is growing at an impressive rate. The motivation of this contribution is to use a commercially available low-budget silver-coated polyamide (PA6) as a thermo-responsive metal-polymer hybrid soft actuator. Polyamide is a hygroscopic polymer; therefore, its mechanical and physical-chemical properties are affected by exposition to humidity or immersion in water. The effect of water absorption content on the PA6 and silver-coated PA6 monofilament properties, such as mass change and resistance, were evaluated. Moreover, the influence of swelling and shrinking effects on the surface morphology, caused by variations of moisture and water immersion, was investigated. Based on these variations, the dynamics of the resistance of the hybrid material were analyzed in the context of the proposed hysteresis model. An identification procedure of the hysteresis is presented along with an approximation of the upper and lower bound based on a constrained least square approach. A switching logic algorithm for this hybrid dynamic system is introduced, which makes it possible to structure the non-linear function in a switching mode. Finally, a non-linear integral sliding manifold is proposed and tested to control the resulting force of the actuator.hysteresis model. An identification procedure of the hysteresis is presented along with an approximation of the upper and lower bound based on a constrained least square approach. A switching logic algorithm for this hybrid dynamic system is introduced, which makes it possible to structure the non-linear function in a switching mode. Finally, a non-linear integral sliding manifold is proposed and tested to control the resulting force of the actuator.
Highlights
Stimulus-responsive polymers are relevant for the realization of smart actuators
The main goal of the research is to use a commercial low budget silver-coated polyamide (PA6) monofilament as a thermo-responsive metal-polymer hybrid soft actuator, which is stimulated with a defined power
The influence of swelling and shrinking effects on the surface morphology, caused by variations of moisture and water immersion, is investigated. Based on these variations, the dynamics of the resistance of the hybrid material were analyzed in the context of the proposed hysteresis model
Summary
Stimulus-responsive polymers are relevant for the realization of smart actuators. The term smart, in this context, indicates the actuator ability to both sense and actuate. Polymer fiber-based actuators are called soft actuators because of their low rigidity. The conductive properties that polymer fibers offer after coating make them suitable for a huge range of applications in biomedical engineering, such as conductors in sensors or bio-sensing textiles for healthcare [1,2]. The number of proposed applications is growing at an impressive rate. Applications have been proposed where soft actuators are able to solve even complex problems in strategic sectors, such as bio-inspired robotics. A soft actuator mimicking human esophageal peristalsis for a swallowing robot is presented in [6], where the use of soft material gives an opportunity to imitate the soft-bodied
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
