Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles

Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles

Röling, Marloes (TU Delft Mechanical, Maritime and Materials Engineering)

van der Weijde, J.O. (mentor)
Vallery, H. (mentor)

Delft University of Technology

Biomedical Engineering | BioMechatronics

2017-11-27

The Twisted and Coiled Polymer Muscle (TCPM) is a new, light weight compliant actuator that is easy and inexpensive to produce. As a result there is a growing body of research, with the goal of implementation of the TCPM. Our research combines two existing fields: 1. Self-sensing, eliminating the need for an external force and displacement sensor. 2. Structures of multiple TCPMs. This research compares the effect of a series versus parallel electrical configuration on self-sensing in Joule heated TCPMs. Experiments show that both series and parallel connection are fit for self-sensing. Relative errors in series configuration are 6.7% 6.9% and 5.1% for respectively strain, temperature and force. Relative errors in parallel configuration are 8.3% 10.4% and 7.8%. These data show series configuration performs better on self-sensing accuracy. This is due to the 2-3dB difference in signal to noise ratio, in favour of series. In addition good repeatability was found in the mechanical behaviour of the TCPMs, with a variance in the spring constant that is smaller than 10% for all cases. This research therefore demonstrates good repeatability as well as accurate self-sensing in a structure in favour of a series electrical configuration.

electrical configuration
twisted and coiled polymer muscle
self-sensing

http://resolver.tudelft.nl/uuid:4e108ea7-5a78-4ebf-a042-5de859e5fbd1

Student theses

master thesis

© 2017 Marloes Röling