Twisted and coiled tube actuators driven by hydraulic pressure: Experiment and theory

IF 6.6 1区工程技术 Q1 ENGINEERING, CIVIL Thin-Walled Structures Pub Date : 2025-01-14 DOI:10.1016/j.tws.2025.112957

Lei Liu , Zhiya Zhang , Dabiao Liu

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Abstract

The twisted and coiled actuators (TCPAs) are new soft actuators that outperform biological muscles on many metrics. Many actuation models have been derived for the control and implementation of the TCPAs, but it is still difficult to accurately describe the hysteresis characteristics. Here, we perform actuation tests on the twisted and coiled tube actuators driven by hydraulic pressure. Based on the generalized Maxwell model, we develop an actuation model for the tube actuators using the updated Lagrangian description. The model can accurately characterize the time-varying nonlinear responses of the actuators. The results indicate that the actuation performance gradually decreases with the pressurization rate and load. An increase in anisotropy can significantly improve the actuation performance. The bias angle of the intermediate layer can determine the twist number of the precursor tube. The load capacity and actuation performance of the tube actuators can be controlled by helix angle and helix radius. This work guides the structural optimization design and precise actuation control of the polymer tube actuators.

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液压驱动的扭管和盘管执行器：实验和理论

扭曲和卷曲致动器（TCPAs）是一种在许多指标上优于生物肌肉的新型软致动器。对于TCPAs的控制和实现，已经建立了许多驱动模型，但仍然很难准确地描述其滞后特性。在此，我们对液压驱动的扭管和盘管作动器进行了作动试验。在广义麦克斯韦模型的基础上，利用更新的拉格朗日描述建立了管状作动器的作动模型。该模型能准确地描述作动器的时变非线性响应。结果表明，随着增压速率和负载的增加，驱动性能逐渐降低。各向异性的增加可以显著改善驱动性能。中间层的偏置角可以决定前驱体管的捻度。管状作动器的负载能力和作动性能可以通过螺旋角和螺旋半径来控制。该工作为聚合物管致动器的结构优化设计和精确致动控制提供了指导。

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来源期刊

Thin-Walled Structures 工程技术-工程：土木

CiteScore

9.60

自引率

20.30%

发文量

801

审稿时长

66 days

期刊介绍： Thin-walled structures comprises an important and growing proportion of engineering construction with areas of application becoming increasingly diverse, ranging from aircraft, bridges, ships and oil rigs to storage vessels, industrial buildings and warehouses. Many factors, including cost and weight economy, new materials and processes and the growth of powerful methods of analysis have contributed to this growth, and led to the need for a journal which concentrates specifically on structures in which problems arise due to the thinness of the walls. This field includes cold– formed sections, plate and shell structures, reinforced plastics structures and aluminium structures, and is of importance in many branches of engineering. The primary criterion for consideration of papers in Thin–Walled Structures is that they must be concerned with thin–walled structures or the basic problems inherent in thin–walled structures. Provided this criterion is satisfied no restriction is placed on the type of construction, material or field of application. Papers on theory, experiment, design, etc., are published and it is expected that many papers will contain aspects of all three.