NDLI: Electro-thermo-mechanics of resilient contractile fiber bundles as robotic actuators

Content Provider	IEEE Xplore Digital Library
Author	Shahinpoor, M.
Copyright Year	1994
Description	Author affiliation: Sch. of Eng., New Mexico Univ., Albuquerque, NM, USA (Shahinpoor, M.)
Abstract	A mathematical model is presented for the dynamic response of contractile fiber bundles embedded in or around elastic springs that are either linear helical compression springs or hyperelastic springs such as rubber-like materials. The fiber bundle is assumed to consist of a parallel array of contractile fibers made form either contractile polymeric muscles such as polyacrylic acid plus sodium acrylate cross-linked with bisacrylamide (PAAM) or polyacrylonitrile (PAN) fibers. The proposed model considers the electrically or pH-induced contraction of the fibers which may include resistive heating of the fiber in case of shape-memory alloys. The theory then branches out to two different descriptions of such processes for ionic polymeric gel fiber bundles and shape-memory alloy fiber bundles. The governing equations have been derived and numerical simulations are carried to understand the dynamic response of such actuators.
Starting Page	1502
Ending Page	1507
File Size	404466
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351375
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optical fiber theory Springs Shape memory alloys Mathematical model Muscles Resistance heating Polymer gels Equations Numerical simulation Actuators
Content Type	Text
Resource Type	Article

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