A Claw Mechanism Built by Thermally Actuated Muscles
Abstract (300 words maximum)
The goal of this research is to find an application for more affordable supercoiled polymers to combat the high budget required to work with more recently developed actuators used in artificial muscles. By using cheaper materials such as nylon fishing line and conductive thread, we can recreate advanced actuators that consist of Carbon Fiber Nanotubing (CNT) for the fraction of the cost. Materials such as silver paste and graphene were introduced to aid conductivity as well as heat dissipation. After sample creation, our team was designated with the task to create a simple mechanism that used a system of the sample artificial muscles to measure its effectiveness. A claw mechanism was designed, placing the polymer coils in similar positions to where the muscle threading in our fingers is located to emulate human fingers. Gears were used at the base of each arm of the claw to allow the arms to move in sync, without needing multiple muscles to coordinate them separately. To activate the muscle, a small current can be run through the coil, signaling it to contract as needed. We then used an Arduino Uno R3 kit, and a code was created that programmed an Infrared Light Remote (IR remote) to connect to a breadboard and Arduino board, allowing us to signal electrical circuits to turn on or off remotely. Currently, LED lights are temporarily substituting the artificial muscles’ placement in the circuit system. When the LED bulbs are on, it simulates the artificial muscle receiving a signal to contract. Buttons were mapped to the IR Remote to control each light individually, allowing us to command each separate muscle on the mechanism as needed. With further development, artificial muscles will replace the LEDS, and the mechanism will fully function.
Academic department under which the project should be listed
SPCEET - Mechanical Engineering
Primary Investigator (PI) Name
Jungkyu Park
A Claw Mechanism Built by Thermally Actuated Muscles
The goal of this research is to find an application for more affordable supercoiled polymers to combat the high budget required to work with more recently developed actuators used in artificial muscles. By using cheaper materials such as nylon fishing line and conductive thread, we can recreate advanced actuators that consist of Carbon Fiber Nanotubing (CNT) for the fraction of the cost. Materials such as silver paste and graphene were introduced to aid conductivity as well as heat dissipation. After sample creation, our team was designated with the task to create a simple mechanism that used a system of the sample artificial muscles to measure its effectiveness. A claw mechanism was designed, placing the polymer coils in similar positions to where the muscle threading in our fingers is located to emulate human fingers. Gears were used at the base of each arm of the claw to allow the arms to move in sync, without needing multiple muscles to coordinate them separately. To activate the muscle, a small current can be run through the coil, signaling it to contract as needed. We then used an Arduino Uno R3 kit, and a code was created that programmed an Infrared Light Remote (IR remote) to connect to a breadboard and Arduino board, allowing us to signal electrical circuits to turn on or off remotely. Currently, LED lights are temporarily substituting the artificial muscles’ placement in the circuit system. When the LED bulbs are on, it simulates the artificial muscle receiving a signal to contract. Buttons were mapped to the IR Remote to control each light individually, allowing us to command each separate muscle on the mechanism as needed. With further development, artificial muscles will replace the LEDS, and the mechanism will fully function.