Fiber-Directed Conjugated-Polymer Torsional Actuator: Nonlinear Elasticity Modeling and Experimental Validation

Existing conjugated-polymer actuators typically take the form of benders or linear extenders. In this paper, a conjugated-polymer-based torsional actuator is proposed by embedding helically wound fibers into a conjugated polymer tube during the polymer-deposition process. Upon actuation, the electro...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2011-08, Vol.16 (4), p.656-664
Main Authors: Yang Fang, Pence, T J, Xiaobo Tan
Format: Article
Language:English
Subjects:
Actuators
Anisotropic magnetoresistance
Bending machines
Composite materials
conjugated polymer
Deformable models
Deformation effects
Dilation
Elasticity
electroactive polymers
Electrons
Elongation
Hydraulic actuators
modeling
nonlinear elasticity
Nonlinearity
Oxidation
Polymers
Spine
Torsion
Tubes
Wounds
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Summary:Existing conjugated-polymer actuators typically take the form of benders or linear extenders. In this paper, a conjugated-polymer-based torsional actuator is proposed by embedding helically wound fibers into a conjugated polymer tube during the polymer-deposition process. Upon actuation, the electrolyte-soaked tube swells, and consequently, produces torsion and other associated deformations because of fiber-induced mechanical anisotropy of the composite material. A nonlinear elasticity-based model is presented to capture the torsion, elongation, and dilation of the tube. Experiments on tubular actuators with different thicknesses, fiber-winding angles, and diameters confirm the aforementioned deformation modes and validate the effectiveness of the proposed model.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2010.2049366