TY - GEN
T1 - Thermally-Controlled Coiled Polymeric Wire as a Novel Variable Elastic Element
AU - Folgheraiter, Michele
AU - Aubakir, Bauyrzhan
AU - Varol, Huseyin Atakan
N1 - Funding Information:
This work was supported by the Ministry of Education and Science of the Republic of Kazakhstan under the grant and target funding scheme agreement #348/226-2016.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - 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.
AB - 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.
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U2 - 10.1109/AIM.2017.8014061
DO - 10.1109/AIM.2017.8014061
M3 - Conference contribution
AN - SCOPUS:85028742097
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 466
EP - 471
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -