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Proceedings Paper

A robotic finger driven by twisted and coiled polymer actuator
Author(s): Kyeong Ho Cho; Min Geun Song; Hosang Jung; Jungwoo Park; Hyungpil Moon; Ja Choon Koo; Jae-Do Nam; Hyouk Ryeol Choi
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Paper Abstract

Previous studies reported that a twisted and coiled polymer actuator (TCA) generates strong force and large stroke by heating. Nylon 6,6 is known to be the most suitable polymer material for TCA because it has high thermal expansion ratio, high softening point and high toughness which is able to sustain gigantic twisting. In order to find the optimal structure of TCA fabricated with silver-coated nylon sewing threads, an equipment for twist-insertion (structuralization), composed of single DC motor, a slider fabricated by 3D printer and a body frame, is developed. It can measure the behaviors of TCAs as well as fabricate TCAs with desired characteristics by structuralizing fibers with controlled rotation per minutes (RPM) and turns. Comparing performances of diverse structures of TCAs, the optimal structure for TCA is found. For the verification of the availability of the optimal TCA, a TCA-driven biomimetic finger is developed. Finally, we successfully demonstrate the flexion/extension of the finger by using the actuation of TCAs.

Paper Details

Date Published: 15 April 2016
PDF: 7 pages
Proc. SPIE 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016, 97981J (15 April 2016); doi: 10.1117/12.2218957
Show Author Affiliations
Kyeong Ho Cho, Sungkyunkwan Univ. (Korea, Republic of)
Min Geun Song, Sungkyunkwan Univ. (Korea, Republic of)
Hosang Jung, Sungkyunkwan Univ. (Korea, Republic of)
Jungwoo Park, Sungkyunkwan Univ. (Korea, Republic of)
Hyungpil Moon, Sungkyunkwan Univ. (Korea, Republic of)
Ja Choon Koo, Sungkyunkwan Univ. (Korea, Republic of)
Jae-Do Nam, Sungkyunkwan Univ. (Korea, Republic of)
Hyouk Ryeol Choi, Sungkyunkwan Univ. (Korea, Republic of)

Published in SPIE Proceedings Vol. 9798:
Electroactive Polymer Actuators and Devices (EAPAD) 2016
Yoseph Bar-Cohen; Frédéric Vidal, Editor(s)

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