Development of a New Type of Robot Model Using Nyron Thread Artificial Muscle

The development of modern humanoid robots is faced with the problem of high weight and high cost due to the large number of expensive actuators installed. On the other hand, the nylon thread artificial muscle (TCPA) proposed by Haines et al. has attracted attention as an actuator with high power and flexibility. Mechanical expansion and contraction are achieved by utilizing the shape change of polymer fibers caused by heating. The low cost and light weight of TCPA suggest new possibilities for use in robotic actuators. However, TCPA has the disadvantage that its response speed is very slow compared to that of general actuators. Therefore, this research aims to explore a new actuation technology that combines existing actuators and TCPA. We have developed a finger-jointed manipulator that combines a servo motor for robots and TCPA, and succeeded in demonstrating the feasibility of a hybrid drive system that combines the two. Furthermore, based on the issues obtained from the driving experiments, the TCPA mounted on the manipulator was processed into a double-helix shape to generate more than four times the force compared to the conventional TCPA in a single state.