Caracterización de un músculo artificial de nylon y su implementación en una articulación de un robot manipulador serial

Abstract

In this paper we present the study and description of a nylon muscle, to validate its performance and define its properties, applying loads on it and subjecting it to thermal stimuli. The results of the implementation of the nylon muscle are reported in a joint of a rigid mechanism, of a serial manipulator, however, the difficult thermal control that the muscle possesses makes the thermal shock (the ambient temperature and the applied one) wear at a certain point to the muscle, exhausting its properties or a very slow response from it. Testing that the material can only be used in the suspension of the load in the application of rigid systems. It is observed that an important feature of nylon muscles is their incredible capacity to contract loads that are higher than the same weight of the muscle and that by means of a thermal stimulus can be contracted thanks to its anisotropic property, just as the material is extremely attractive for the application of soft robotics and intelligent materials