A known method for producing linear mechanical actuation from thermal stimulus involves the coiling of Nylon filaments into spring-like helical artificial muscle fibers. In this research the character of these muscle fibers was investigated using a test fixture designed to emulate the conditions in a real application. Characterization testing revealed an effect wherein muscles changed length unexpectedly under variable-loading conditions at high temperatures. This newly discovered effect, along with other properties of the muscle fibers, was then modeled in a parametric simulation environment, and parameter estimation utilities were used to match the model to the real-world response. The matched parameter model was used to simulate a computer controlled antagonistic servo-joint.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Hunt, William Daniel

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-032516-130138

Advisor

• Onal, Cagdas

Year

• 2016

Date created

• 2016-03-25

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright

Last modified

• 2021-02-01