Large Actuation Research Articles

High cycle performance of twisted and coiled polymer actuators

Twisted and coiled polymer actuators (TCPA), also known as coiled artificial muscles, are gaining popularity in soft robotics due to their large contractile actuation and work capacity. However, while it has been previously claimed that the stroke of TCPA remains stable after thousands of cycles, their absolute length change has not been rigorously studied. Here, we constructed an isobaric cycling setup that relies on fast heating and cooling by water immersion. This enables testing for 10k cycles in a duration of 56 hours, where the muscle temperature is varied between 15 °C and 75 °C at a rate of 20 seconds per cycle. Surprisingly, while the stroke usually remains unchanged for the entire 10k cycles as previously claimed, the final muscle loaded length exhibits all the geometrical possibilities of creep behavior as it can remain unchanged, elongate (creep), or contract (reverse creep) at the end of the test. Based on a wide range of experiments, we derived an empirical law which captures the observed relationship between the final muscle length change ΔL, the stroke α, and the passive strain ε0: ε0+α=ΔL. Using this relation, the final length change of the muscle can be predicted from the first 100 cycles only. We show that polyvinylidene fluoride (PVDF), which does not swell in water, and nylon, which swells, follow this empirical law by testing in water with and without a protective coating, respectively. These results offer practical design guidelines for predictive actuation over thousands of cycles.

Development of High-Aspect-Ratio Soft Magnetic Microarrays for Magneto-Mechanical Actuation via Field-Induced Injection Molding.

Magnetorheological elastomers (MREs) are in demand in the field of high-tech microindustries and nanoindustries such as biomedical applications and soft robotics due to their exquisite magneto-sensitive response. Among various MRE applications, programmable actuators are emerging as promising soft robots because of their combined advantages of excellent flexibility and precise controllability in a magnetic system. Here, we present the development of magnetically programmable soft magnetic microarray actuators through field-induced injection molding using MREs, which consist of styrene-ethylene/butylene styrene (SEBS) elastomer and carbonyl iron powder (CIP). The ratio of the CIP/SEBS matrix was designed to maximize the CIP fraction based on a critical solids loading. Further, as part of the design of the magnetization distribution in micropillar arrays, the magnetorheological response of the molten composites was analyzed using the static and dynamic viscosity results for both the on and off magnetic states, which reflected the particle dipole interaction and subsequent particle alignment during the field-induced injection molding process. To develop a high-aspect-ratio soft magnetic microarray, X-ray lithography was applied to prepare the sacrificial molds with a height-to-width ratio of 10. The alignment of the CIP was designed to achieve a parallel magnetic direction along the micropillar columns, and consequently, the micropillar arrays successfully achieved the uniform and large bending actuation of up to approximately 81° with an applied magnetic field. This study suggests that the injection molding process offers a promising manufacturing approach to build a programmable soft magnetic microarray actuator.

Interfacial modulation of Ti3C2Tx MXene using functionalized cellulose nanofibrils for enhanced electrochemical actuation

Electrochemical actuators (ECAs) with low voltage actuation and large deformation ranges generally require electrode materials with high ion kinetic energy transport, high charge storage, and excellent electrochemical-mechanical properties. However, the fabrication of such actuators remains a major challenge. In the present work, hybrid electroactive films were fabricated by self-assembling one-dimensional functionalized cellulose nanofibrils (CNFs) with two-dimensional MXene (Ti3C2Tx). The obtained ECA actuators fabricated by carboxymethylated cellulose nanofibrils (consisting of -CH2COO−surface groups) with Ti3C2Tx integrate excellent curvature (0.1041 mm−1), mechanical strength (21.68 MPa), a bending strain of 0.50 %, and a good actuation displacement of 9.3 mm at a low voltage range of −0.6 to 0.3 V. This may be attributed to the enlarged layer spacing (15.34 Å), which makes the embedding and transport of H+ easier, and excellent adaptivity of mechanical properties achieved by molecular-scaled strong hydrogen bonding, leading to better actuation performance. This study provides a potential research direction for the preparation of ECAs with large actuation deformation.

Measurement method of flexible component pose based on discrete motion actuators

Abstract In order to address the limitations of traditional large discrete motion actuator mechanisms in realizing high-precision inter-axis relationship calibration in manufacturing environments, this paper proposes a new convolutional neural network-based attitude mapping estimation method, component pose using convolutional neural network (CPCNN). The method implicitly encodes the inter-axis relation matrix into the weight parameters of the training neural network, which results in a high degree of integration with existing large discrete motion actuator mechanisms. The CPCNN-based method directly obtains the attitude change of the adjustment cabin by reading the change of each axis of the current motion actuator mechanism in its own coordinate system. This method can overcome the limitations of the experimental process in the traditional calibration methods and improve the accuracy of attitude mapping under the influence of self-weight by selecting better motion parameters through redundant degrees of freedom. The application of this new method will provide an effective solution for the high-precision inter-axis relationship calibration of large discrete motion actuator mechanisms in manufacturing environments, offering new possibilities for improving production efficiency and product quality.

Ag-S coordination strategy for high recovery driving stress in recyclable shape memory polymers

To address the issue of low strength and recovery stress in recyclable shape memory polymer (SMP) materials with dynamic covalent bonds in practical applications, we propose a method based on Ag-S coordination interactions to improve dynamic covalent bonds, thereby preparing recyclable SMP with high recovery stress and large recovery strain. The introduction of in situ reduced silver nanoparticles (AgNPs) in the SMP system play multiple roles, serving as additional physical crosslinking points at the microscale and coordinating with disulfide bonds in the system to construct a multi-level dynamic network structure. This endows the material with exceptional mechanical properties (tensile strength of 25.93 MPa and fracture strain of 1466.83 %) and recovery driving stress (5.59 MPa), while maintaining more than 99 % shape recovery and fixity rate. Furthermore, due to the outstanding photothermal performance of AgNPs, the composite material has acquired remote photothermal driving capabilities. The proposed Ag-S coordination enhancement offers a new approach for SMP materials that achieve both large actuation distance and high recovery stress, holding significant potential for applications in soft robotics and actuators.

2-dimensional impact-damping electrostatic actuators with elastomer-enhanced auxetic structure

Biomimetic robots yearn for compliant actuators that are comparable to biological muscle in both functions and structural properties. For that, electrostatic actuators have been developed to imitate bio-muscle in features of fast response, high power, energy-efficiency, etc. However, those actuators typically lack impact damping performance, making them vulnerable and unstable in real applications. Here, we present auxetic electrostatic actuators that address this issue and demonstrate muscle-like performance by using elastomer-enhanced auxetics and electrostatic zipping mechanism. The proposed actuators contract linearly on applied voltage, producing large actuation strength (15 N) and contraction ratio (59%). Fabricated from readily available materials, our prototypes can quickly attenuate vibrations caused by impacts and absorb shock energy in 0.3 s. Furthermore, leveraging their 2-dimensional working mode and self-locking mechanism, a stiffness-changing muscle for a robotic arm and an active tensegrity device exemplify the potential applications of auxetic electrostatic actuators to a wide range of bionic robots.

Modular reconfigurable rotary style soft pneumatic actuators

Modular soft robots have the advantage in their ability to be reconfigured and change their morphology on-demand according to a specified task. The actuator design and particularly the inter-unit connectivity strength commonly govern the usability and functionality of these modular robots and their applications. In this paper, we present development of reconfigurable modular rotary soft actuators that allow the construction of highly versatile soft robotic actuators and systems. These pneumatically driven modular actuators are composed of an inner balloon and a flexible arched reinforcement structure to produce a rotary motion. They serve as building blocks which may be combined in various configurations to construct linear assemblies capable of extensile or bending motions. The connection scheme allows for the larger actuators to grow or shrink with the addition or removal of modules. Using finite element simulations and physical characterizations, we systematically explore the mechanical response of individual modular actuators and the role of various connection schemes on their motions upon pressurization. A key conceptual contribution of this work lies in the idea that for a modular soft robotic system, offsetting and tuning actuator alignment relative to an axis of symmetry can lead to substantial changes in mechanical performance. Utilizing these modules we demonstrate the reconfigurability of this modular system by both reconfiguring a large actuator into a pair of smaller actuators that can grasp delicate objects, and reconfiguring actuators to develop a linear crawling robot.

Research on Aerodynamic Characteristics of Three Offshore Wind Turbines Based on Large Eddy Simulation and Actuator Line Model

Investigating the aerodynamic performance and wake characteristics of wind farms under different levels of wake effects is crucial for optimizing wind farm layouts and improving power generation efficiency. The Large Eddy Simulation (LES)–actuator line model (ALM) method is widely used to predict the power generation efficiency of wind farms composed of multiple turbines. This study employs the LES-ALM method to numerically investigate the aerodynamic performance and wake characteristics of a single NREL 5 MW horizontal-axis wind turbine and three such turbines under different wake interaction conditions. For the single turbine case, the results obtained using the LES-ALM method were compared with the existing literature, showing good agreement and confirming its reliability for single turbine scenarios. For the three-turbine wake field problem, considering the aerodynamic performance differences under three cases, the results indicate that spacing has a minor impact on the power coefficient and thrust coefficient of the middle turbine but a significant impact on the downstream turbine. For staggered three-turbine arrangements, unilateral turbulent inflow to the downstream turbine causes significant fluctuations in thrust and torque, while bilateral turbulent inflow leads to more stable thrust and torque. The presence of two upstream turbines causes an acceleration effect at the inflow region of the downstream single turbine, significantly increasing its power coefficient. The findings of this study can provide methodological references for reducing wake effects and optimizing the layout of wind farms.

Solvent Engineering of Thermo-Responsive Hydrogels Facilitates Strong and Large Contractile Actuations.

Thermo-responsive hydrogels can generate the actuation force through volumetric transitions in response to temperature changes. However, their weak mechanical properties and fragile actuation performance limit robust applications. Existing approaches to enhance these properties have typically depended on additional components, leading to an unavoidable interference to the actuation performance. In this work, robust thermo-responsive hydrogels are fabricated through solvent engineering. A particular solvent, N-methylformamide, interacts affinitively with the carbonyl group of N-isopropylacrylamide monomer, solubilizes the monomer with extremely high concentration, stabilizes chain propagation during polymerization, and greatly increases chain lengths and entanglements of the resulting polymer. The synthesized hydrogels are highly elastic, strong, and tough, displaying remarkable thermo-responsive contractile actuation. The simple synthetic process can broaden its applicability in designing robust functional hydrogel applications.

Nonlinear dynamics of diamagnetically levitating resonators

The ultimate isolation offered by levitation provides new opportunities for studying fundamental science and realizing ultra-sensitive floating sensors. Among different levitation schemes, diamagnetic levitation is attractive because it allows stable levitation at room temperature without a continuous power supply. While the dynamics of diamagnetically levitating objects in the linear regime are well studied, their nonlinear dynamics have received little attention. Here, we experimentally and theoretically study the nonlinear dynamic response of graphite resonators that levitate in permanent magnetic traps. By large amplitude actuation, we drive the resonators into nonlinear regime and measure their motion using laser Doppler interferometry. Unlike other magnetic levitation systems, here we observe a resonance frequency reduction with amplitude in a diamagnetic levitation system that we attribute to the softening effect of the magnetic force. We then analyze the asymmetric magnetic potential and construct a model that captures the experimental nonlinear dynamic behavior over a wide range of excitation forces. We also investigate the linearity of the damping forces on the levitating resonator, and show that although eddy current damping remains linear over a large range, gas damping opens a route for tuning nonlinear damping forces via the squeeze-film effect.

The Effects of Pointing Error Sources on Energy Delivery from Orbiting Solar Reflectors

Many proposals are being made for cleaner, more sustainable forms of energy production. Terrestrial solar photovoltaic farms (SPFs) could potentially deliver large quantities of energy to the grid, although these are limited to daytime use. The output from these SPFs could be enhanced, particularly around dawn and dusk, by the use of orbiting solar reflectors (OSRs) in near-polar orbit. These would reflect an image of the solar disk, or solar image (SI), onto the SPFs to augment their energy output. Pointing requirements are therefore to ensure that reflected sunlight is delivered to the terrestrial SPF, avoiding the losses incurred by an offset of the SI and the SPF itself. The SI would typically be of order 10 km for a reflector in a 1000 km orbit. Given the potentially large size of the reflectors, this presents a challenge for the attitude determination and control system (ADCS) to ensure that the maximum quantity of energy can be delivered to a SPF, typically requiring large control moment gyro actuators. In addition, there exist numerous sources of error in the ADCS which can cause further degradation in the quantity of energy delivered to the SPF. These errors can manifest in the resolution of the various sensors, flexible structural modes, manufacturing inaccuracies, and misalignments due to vibration during launch. This paper will investigate the effects of pointing error sources (PES) on the reflector ADCS and so on the quantity of energy delivered to the SPF. With the application of a PD controller with feedforward compensation, and the set of noise characteristics defined in this paper, numerical simulations will show the typical losses in energy delivered to SPFs of 0.015% when the model accounts for PES in onboard sensors, actuator uncertainty and flexible structural modes.

Dynamic modeling and analysis of viscoelastic hard-magnetic soft actuators with thermal effects

Hard-magnetic soft materials (HMSMs) are a class of magnetoactive smart polymers capable of sustaining a high residual magnetic flux density and can undergo large actuation strains under an external magnetic excitation. Due to these exceptional characteristics, soft actuators based on HMSMs hold enormous potential for remote-controlled applications. The temperature and viscoelasticity considerably influence the performance of these materials during the operation. This work aims to develop an analytical framework for modeling the dynamic behavior of a planar hard-magnetic soft actuators (HMSA) considering temperature and viscoelastic effects. The constitutive behavior of the viscoelastic HMSA is described by employing an incompressible neo-Hookean model in conjunction with a Zener rheological model and the Rayleigh dissipation function. The dynamic governing differential equations of motion are derived by utilizing the non-conservative form of the Euler–Lagrange equation. This study delves into the collective influence of temperature and viscoelastic properties on the stability, periodicity, and resonance characteristics of nonlinear vibrations exhibited by HMSM-based planar actuator subjected to dynamic magnetic loading, presenting the findings through time-history responses, Poincaré maps, and phase-plane plots. The presented results can help in the efficient and robust design of HMSM-based actuators and can also serve as an initial step toward the development of advanced actuators exposed to dynamic loading under variable temperatures for diverse applications in the fields of engineering and medicine.

Liquid Crystal Elastomer Hollow Fibers as Artificial Muscles with Large and Rapid Actuation Enabled by Thermal‐Pneumatic Enhanced Effect

AbstractLiquid crystal elastomer (LCE) has large and reversible deformation under stimulation, making it an ideal material for artificial muscles. Currently, multi‐stimulus responsive LCE actually responds to each stimulus independently rather than responding to several stimuli simultaneously. Achieving an enhanced effect from concurrent stimuli is still a challenge, which requires a new stimulus‐response mechanism. This work develops a novel and facile solvent evaporation‐assisted template method to prepare LCE hollow fiber (LCEHF) with axial alignment. Taking advantage of the enhanced effect of heat‐induced phase transition and mechanical force‐induced orientation transition of mesogens, the LCEHF under both heat and pressure can produce a large contraction ratio of ≈50%, which is higher than 42% of thermal stimulation or 27% of pneumatic stimulation. It can also enhance the respective response and recovery speed of LCEHF to 300 and 3700 times of pneumatic actuation. Additionally, the enhanced effect lowers the actuation temperature much below the phase transition temperature, imparting LCEHF with high mechanical performance during actuation. Furthermore, the dual thermal‐pneumatic responsive LCEHF can mimic human biceps and cause large and rapid bending of an artificial arm reversibly. This new actuation methodology sheds new light on improving LCE actuation performance and broadens its application scenarios.

Stiff morphing composite beams inspired from fish fins.

Morphing materials are typically either very compliant to achieve large shape changes or very stiff but with small shape changes that require large actuation forces. Interestingly, fish fins overcome these limitations: fish fins do not contain muscles, yet they can change the shape of their fins with high precision and speed while producing large hydrodynamic forces without collapsing. Here, we present a 'stiff' morphing beam inspired from the individual rays in natural fish fins. These synthetic rays are made of acrylic (PMMA) outer beams ('hemitrichs') connected with rubber ligaments which are 3-4 orders of magnitude more compliant. Combinations of experiments and models of these synthetic rays show strong nonlinear geometrical effects: the ligaments are 'mechanically invisible' at small deformations, but they delay buckling and improve the stability of the ray at large deformations. We use the models and experiments to explore designs with variable ligament densities, and we generate design guidelines for optimum morphing shape (captured using the first moment of curvature), that capture the trade-offs between morphing compliance (ease of morphing the structure) and flexural stiffness. The design guidelines proposed here can help the development of stiff morphing bioinspired structures for a variety of applications in aerospace, biomedicine or robotics.

Gradients of properties increase the morphing and stiffening performance of bioinspired synthetic fin rays

State-of-the-art morphing materials are either very compliant to achieve large shape changes (flexible metamaterials, compliant mechanisms, hydrogels), or very stiff but with infinitesimal changes in shape that require large actuation forces (metallic or composite panels with piezoelectric actuation). Morphing efficiency and structural stiffness are therefore mutually exclusive properties in current engineering morphing materials, which limits the range of their applicability. Interestingly, natural fish fins do not contain muscles, yet they can morph to large amplitudes with minimal muscular actuation forces from the base while producing large hydrodynamic forces without collapsing. This sophisticated mechanical response has already inspired several synthetic fin rays with various applications. However, most ‘synthetic’ fin rays have only considered uniform properties and structures along the rays while in natural fin rays, gradients of properties are prominent. In this study, we designed, modeled, fabricated and tested synthetic fin rays with bioinspired gradients of properties. The rays were composed of two hemitrichs made of a stiff polymer, joined by a much softer core region made of elastomeric ligaments. Using combinations of experiments and nonlinear mechanical models, we found that gradients in both the core region and hemitrichs can increase the morphing and stiffening response of individual rays. Introducing a positive gradient of ligament density in the core region (the density of ligament increases towards the tip of the ray) decreased the actuation force required for morphing and increased overall flexural stiffness. Introducing a gradient of property in the hemitrichs, by tapering them, produced morphing deformations that were distributed over long distances along the length of the ray. These new insights on the interplay between material architecture and properties in nonlinear regimes of deformation can improve the designs of morphing structures that combine high morphing efficiency and high stiffness from external forces, with potential applications in aerospace or robotics.

A large-strain and ultrahigh energy density dielectric elastomer for fast moving soft robot.

Dielectric elastomer actuators (DEAs) with large actuation strain and high energy density are highly desirable for actuating soft robots. However, DEAs usually require high driving electric fields (>100 MV m-1) to achieve high performances due to the low dielectric constant and high stiffness of dielectric elastomers (DEs). Here, we introduce polar fluorinated groups and nanodomains aggregated by long alkyl side chains into DE design, simultaneously endowing DE with a high dielectric constant and desirable modulus. Our DE exhibits a maximum area strain of 253% at a low driving electric field of 46 MV m-1. Notably, it achieves an ultrahigh specific energy of 225 J kg-1 at only‍‌ ‌‌40‍‌ MV m-1, around 6 times higher than natural muscle and twice higher than the state-of-the-art DE. Using our DE, soft robots reach an ultrafast running speed of 20.6 BL s-1, 60 times higher than that of commercial VHB 4910, representing the fastest DEA-driven soft robots ever reported.

A new model of thermo-mechanical actuation for twisted and coiled polymer muscles with initial curvature

The twisted and coiled polymer (TCP) artificial muscle is one type of novel soft actuator for mimicking natural skeletal muscle that can provide large linear and torsional actuation and energy density. Twisting and coiling are the pivotal steps in fabricating TCP muscles. The influence of twisting on the actuation response of TCP muscles has been extensively investigated recently. However, the influence of coiling remains unclear. Based on the finite strain theory, we establish a new thermo-mechanical actuation model for TCP muscles with initial curvature. The theoretical predictions based on the model align well with the finite element simulations, accurately capturing the actuation response of thermally-activated TCP muscles. It is revealed that twisting contributes positively to the actuation, while coiling has a passive effect. Geometrical parameters, such as the helix radius and helix angle, can effectively regulate the actuation performance of TCP muscles. Furthermore, an optimal bias angle is identified that maximizes both the recovery torque and the linear actuation. This study sheds light on the structural optimization design of TCP muscles.

A Comparison of Pneumatic Actuators for Soft Growing Vine Robots.

Soft pneumatic actuators are used to steer soft growing "vine" robots while being flexible enough to undergo the tip eversion required for growth. In this study, we compared the performance of three types of pneumatic actuators in terms of their ability to perform eversion, quasi-static bending, dynamic motion, and force output: the pouch motor, the cylindrical pneumatic artificial muscle (cPAM), and the fabric pneumatic artificial muscle (fPAM). The pouch motor is advantageous for prototyping owing to its simple manufacturing process. The cPAM exhibits superior bending behavior and produces the highest forces, whereas the fPAM actuates fastest and everts at the lowest pressure. We evaluated a range of dimensions for each actuator type. Larger actuators can produce more significant deformations and forces, but smaller actuators inflate faster and can evert at a lower pressure. Because vine robots are lightweight, the effect of gravity on the functionality of different actuators is minimal. We developed a new analytical model that predicts the pressure-to-bending behavior of vine robot actuators. Using the actuator results, we designed and demonstrated a 4.8 m long vine robot equipped with highly maneuverable 60 × 60 mm cPAMs in a three-dimensional obstacle course. The vine robot was able to move around sharp turns, travel through a passage smaller than its diameter, and lift itself against gravity.

A Giant Magneto-Superelasticity of 5% Enabled by Introducing Ordered Dislocations in Ni34Co8Cu8Mn36Ga14 Single Crystal.

Elasticity, featured by a recoverable strain, refers to the ability that materials can return to their original shapes after deformation. Typically, the elastic strains of most metals are well-known 0.2%. In shape memory alloys and high entropy alloys, the elastic strains can be several percent, as called superelasticity, which are all triggered by external stresses. A superelasticity induced by magnetic field, termed as magneto-superelasticity, is extremely important for contactless work of materials and for developing brand-new large stroke actuators and high efficiency energy transducers. In magnetic shape memory alloys, the twin boundary motion driven by magnetic field can output a strain of several percent. However, this strain is unrecoverable when removing the magnetic field and hence it is not magneto-superelasticity. Here, a giant magneto-superelasticity of 5% in a Ni34Co8Cu8Mn36Ga14 single crystal is reported by introducing arrays of ordered dislocations to form preferentially oriented martensitic variants during the magnetically induced reverse martensitic transformation. This work provides an opportunity to achieve high performance in functional materials by defect engineering.

Optimization of magnetoactive polymer membranes using radial magnetization

Magnetoactive polymer membranes (MAPMs) are manufactured by synthesizing magnetic powders and silicon. Owing to the unique combination of their magnetic and elastic properties, MAPMs have attracted considerable interest as actuators for applications such as soft robotics and medical drug pumps. However, the real-world applications of MAPMs are limited by complicated magnetization processes and their inability to generate large actuation forces. Herein, we propose a radially magnetized MAPM and a magnetization process that eliminates repetitive folding, resulting in elaborate and uniformly magnetized MAPMs without any additional processes. We optimized the membrane thickness and concentration of the magnetic particles by considering the trade-off between actuation performance and controllability. Moreover, we optimized the membrane thickness and concentration of the magnetic powders by analyzing their actuation performance using custom-made pump system. We also quantified the performance of the pump by evaluating its flow rate and precision. Our results show that the maximum outlet pressure of radially-magnetized MAPMs was higher than those of MAPMs manufactured using conventional vertical magnetization by more than 5.5 times. Overall, this study presents a promising candidate for driving miniaturized pump systems and demonstrates the potential of MAPMs as versatile actuators.