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

Michele Folgheraiter; Bauyrzhan Aubakir; Huseyin Atakan Varol

doi:10.1109/AIM.2017.8014061

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

Michele Folgheraiter, Bauyrzhan Aubakir, Huseyin Atakan Varol

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	466-471
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014061
Publication status	Published - Aug 21 2017
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: Jul 3 2017 → Jul 7 2017

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country	Germany
City	Munich
Period	7/3/17 → 7/7/17

ASJC Scopus subject areas

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

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Thermally-Controlled Coiled Polymeric Wire as a Novel Variable Elastic Element. / Folgheraiter, Michele; Aubakir, Bauyrzhan; Varol, Huseyin Atakan.

2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 466-471 8014061.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Folgheraiter, M, Aubakir, B & Varol, HA 2017, Thermally-Controlled Coiled Polymeric Wire as a Novel Variable Elastic Element. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014061, Institute of Electrical and Electronics Engineers Inc., pp. 466-471, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 7/3/17. https://doi.org/10.1109/AIM.2017.8014061

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