Year: 2019
Type: article
Abstract: A robotic finger actuated by novel artificial muscles known as twisted and coiled polymer (TCP) muscles has been proposed as an inexpensive, yet high-performance component of a robotic hand in recent years. In this paper, the Euler–Lagrangian method coupled with an electro-thermo-mechanical model-based transfer function was used for the analysis of finger joints in the hand. Experiments were performed at three power magnitudes provided to the TCP muscles, and the output angular displacements of the index finger subtended corresponding to the power levels were measured. The measured input and output parameters were used for system identification. To elucidate how the new artificial muscle influences the finger motion, two types of numerical simulations were performed: force input simulation (FIS) using measured force as an input and power input simulation (PIS) using measured electrical power as an input. Results were quantified statistically, and the simulated data were compared with the experimental results. Sensitivity analysis was also presented to understand the effect of the mechanical properties on the system. This model will help in understanding the effect of the TCP muscles and other similar smart actuators on the dynamics of the robotic finger.
DOI: 10.1115/1.4044740
Authors: Lokesh Saharan, Lianjun Wu, Yonas Tadesse
Institution: The University of Texas at Dallas
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
Funder: Office of Naval Research
OpenAlex ID: W2972022396