Comparative study on antagonistic actuation of linear carbon fiber-based soft actuators and rotary servo motors

被引：0

作者：

Lawrence, Bradley D. ^{[1
]}

Gardea, Frank ^{[2
]}

Auletta, Jeffrey T. ^{[1
]}

Morales, Madeline A. ^{[1
]}

Balaji, Bruhuadithya ^{[3
]}

Naraghi, Mohammad ^{[3
]}

Henry, Todd C. ^{[1
]}

机构：

[1] US Army Combat Capabil Dev Command Army Res Lab, Army Res Directorate, Aberdeen Proving Ground, MD 21005 USA

[2] US Army Combat Capabil Dev Command Army Res Lab So, Army Res Directorate, College Stn, TX 77843 USA

[3] Texas A&M Univ, Dept Aerosp Engn, College Stn, TX 77843 USA

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 2025年 / 387卷

关键词：

Artificial muscle; Servo; Antagonistic actuation; Twisted and coiled actuators; Soft materials; ARTIFICIAL MUSCLES;

D O I：

10.1016/j.sna.2025.116476

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The actuation performance between carbon fiber/polydimethylsiloxane twisted and coiled (T&C) soft actuators and traditional electrically driven rotary servo motors is compared under different configurations and loading conditions, focusing on antagonistic-type actuation. The scaling of T&C actuator force and displacement output is studied by testing actuators with increased dimensions or in a grouped configuration. The actuation potential of the T&C actuators is compared with that of MG90s and MG996R servos based on force and work output. While the servos show increased force output, the performance is significantly reduced when in series with antagonistic springs. The advantage of T&C actuators, in terms of weight and volume, is highlighted through comparison of normalized force and work output. In addition, the tunability of the T&C actuators presents a significant benefit for potential multi-degree of freedom requirements in limited spaces.

引用

页数：8