Faculty Advisor

Onal, Cagdas Denizel

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

March 2016

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Mechanical Engineering

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