Wire-storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber
Wire-storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber
复制标题
用于放大扭曲和卷曲聚合物纤维的应变和力的储线受电弓机构
DOI：
10.1109/lra.2022.3197268
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
and Kenji Tahara
中科院分区：
文献类型：
--
作者：
Ken Masuya;Kentaro Takagi;and Kenji Tahara
扭曲缠绕聚合物纤维(TCPF)是目前机器人应用中日益广泛使用的一种软热致动器。当在机器人应用中实现TCPF时，需要放大TCPF的应变和力以获得期望的性能。因此，本研究提出了一种放大TCPF的应变和力的机制。将TCPF视为一根钢丝，采用固定滑轮机构和活动滑轮机构分别放大TCPF的应变和力。然而，当固定皮带轮与活动皮带轮分开安装时，放大机构变得笨重；因此，TCPF利用率降低。本研究针对受电弓的两个特性，设计了一种紧凑型放大机构。第一个特点是受电弓对角轴上的滑轮可以作为活动滑轮机构。另一个特点是，受电弓的圆周可以是固定的滑轮机构，因为圆周总是不变的。基于这些特性，所提出的机构可以同时放大TCPF的应变和力。实验表明，力是基于围绕对角轴的环的数量而放大的。虽然载荷和温度对应变放大有影响，但实验证实应变是放大的。特别是，根据循环次数的不同，在保持力水平的同时，应变将变为TCPF应变的5.8倍。此外，改变循环次数，应变和力分别放大2.8倍和2倍。
A twisted and coiled polymer fiber (TCPF) is a soft thermal actuator increasingly used in current robotics applications. When implementing TCPF in robotics applications, amplifying the TCPF strain and force is necessary to obtain the desired performance. Therefore, this study proposes a mechanism to amplify the strain and force of a TCPF. Considering the TCPF as a wire, the fixed and movable pulley mechanisms are available to amplify the TCPF strain and force, respectively. However, the amplification mechanism becomes bulky when the fixed pulleys are installed separately from the movable pulleys; thus, the TCPF utility reduces. This study focuses on two characteristics of the pantograph to design a compact amplification mechanism. The first characteristic is that the pulleys on the pantograph diagonal axes can be used as a movable pulley mechanism. The other characteristic is that the pantograph circumference can be a fixed pulley mechanism, as the circumference is always invariant. Based on these characteristics, the proposed mechanism can amplify both the TCPF strain and force. The experiments show that the force is amplified based on the number of loops around the diagonal axes. Although the load and temperature affect the strain amplification, the experiments confirm that the strain is amplified. In particular, depending on the loop number, the strain becomes 5.8 times the TCPF strain while maintaining the force level. Furthermore, changing the loop number, the strain and force are amplified 2.8 times and 2 times, respectively.