Thermally-Controlled Coiled Polymeric Wire as a Novel Variable Elastic Element

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, we present a thermally-controlled coiled polymeric wire as a novel variable stiffness element for robotics applications. We characterized the stiffness behavior of a single twisted nylon wire with 1 mm diameter at different operating temperatures between 25 °C to 50 °C. We observed a linear relationship between the temperature and the stiffness of the nylon wire. This is promising since it would facilitate straightforward adjustment of spring behavior in variable stiffness actuated systems. In order to see the stiffness modulation through temperature change, we conducted dynamic tests on a single joint mechanism with two nylon springs connected in an antagonistic configuration. Specifically, the nylon springs were immersed in water and the temperature was controlled using a Peltier cell. Experimental results indicate that the natural frequency and the damping ratio of the second order system are proportional and inversely proportional to the temperature, respectively.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages466-471
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - Aug 21 2017
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: Jul 3 2017Jul 7 2017

Conference

Conference2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period7/3/177/7/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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