Designing Muscle-powered Robotics with Super Coiled Polymers

Robotics: Science and Systems Workshop, 2017

Jun Zhang, Michael C Yip

Abstract: When designing robotic systems, we heavily rely on motors, pneumatic actuators, hydraulic actuators, artificial muscles such as shape memory alloys (SMAs) to achieve actuation [1]. Cost, volume, mass, inertia, friction, among others, often need to be carefully considered, and it is not rare to end up with very few choices of actuation that are suitable for the application that we have in mind.Super-coiled polymer (SCP) actuators are a recentlydiscovered, low-cost, lightweight, and accessible actuation technology. These SCP muscles are constructed from twisting sewing threads or fishing lines until coils are formed, and can achieve large contraction in length when they are heated [2][5]. With different thread materials, muscle thicknesses, and operation conditions, SCP muscles can generate varying performances and can be adapted or scaled to different applications. Their unique properties show strong promise as a transformative artificial muscle technology for robotic applications. Yet, due to the relative novelty of these actuators, there has been sparse information regarding how to design these actuators for use in robotic applications. This paper’s primary goal is to describe SCP actuators for robot makers. In particular, it discusses the muscle construction approaches and design considerations, and presents preliminary design examples of robots that use SCP actuators. Future prospects of this new technology are considered.

Zhang et al. (2017) Designing Muscle-powered Robotics with Super Coiled Polymers, Robotics: Science and Systems Workshop, pp. 1-4.

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