Journal of Textile Research ›› 2020, Vol. 41 ›› Issue (05): 50-57.doi: 10.13475/j.fzxb.20190506508

• Textile Engineering • Previous Articles     Next Articles

Study on actuating force of knit actuator based on covered yarn with shape memory alloy wire as core

XIONG Xiangzhang1, PEI Zeguang1,2(), CHEN Ge1,2   

  1. 1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China
    2. Engineering Research Center of Advanced Textile Machinery, Ministry of Education, Donghua University, Shanghai 201620, China
  • Received:2019-05-24 Revised:2020-02-18 Online:2020-05-15 Published:2020-06-02
  • Contact: PEI Zeguang E-mail:zgpei@dhu.edu.cn

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Abstract:

To fabricate fabric-based artificial muscle for soft robotic applications, a covered yarn with NiTi shape memory alloy (SMA) wire as the core and aramid multi-filaments as the sheath was designed in this research. Plain knittes fabric-based actuators were fabricated from the covered yarn, which can be driven by Joule heat. Effects of the structural parameters and actuation conditions on the actuation performance of the knit actuators as well as their cyclic actuation characteristics were investigated. The results show that upon actuation, the plain knittes fabric-based actuator exhibits bending deformation along its wale direction. With the increase of number of rows of the knit actuator, its actuating force along the wale direction in the fabric plane increases linearly, while its actuating force in the direction perpendicular to the fabric plane demonstrates a slight decrease. The increase of the loop size leeds to the increased actuating force along the wale direction in the fabric plane. The rise of the actuating current resultes in an increase of the actuating forces in both directions. The knit actuator exhibites a stable and high-frequency cyclic actuating capability.

Key words: shape memory alloy wire, covered yarn, knit, actuator, fabric-based artificial muscle

CLC Number: 

  • TB333

Tab.1

Parameters of NiTi shape memory alloy wire"

密度/
(g·cm-3)		 比热/
(J·g-1·℃-1)		 导热率/
(W·cm-1·℃-1)		 泊松
比		 每米电阻值/
(Ω·m-1)
6.45 0.84 0.18 0.33 55

Tab.2

Parameters of Kevlar aramid multi-filaments"

线密度/
dtex		 纤维根
数		 断裂
强力/N		 比强力/
(cN·dtex-1)		 拉伸模量/
(cN·dtex-1)		 断裂
伸长率/%
220 135 51 23.0 700 3.1

Fig.1

Fabrication process of covered yarn with SMA wire as the core. (a) First wrap;(b) Second wrap"

Fig.2

Knit actuator with 3 columns and 26 row. (a) Initial state top view;(a) Initial state side view;(c) Actuating state top view;(c) Actuating state side view"

Fig.3

Schematic diagrams of experimental measurement principle. (a) Schematic diagram of measuring method for F1; (b) Schematic diagram of measuring method for F2"

Fig.4

Actuating forces of knit actuator with different number of columns. (a) Change rule of F1 with different number of columns; (b) Change rule of F2 with different number of columns"

Tab.3

Structural parameter values of knit actuators knitted by different needles"

棒针
直径/
mm		 长度/
mm		 宽度/
mm		 纵行方向
线圈密度/
(线圈·mm-1)		 横列方向
线圈密度/
(线圈·mm-1)
2.00 49.52 8.28 0.53 0.36
2.25 52.88 9.48 0.49 0.32
2.50 57.16 10.10 0.45 0.30
2.75 61.14 10.82 0.43 0.28
3.00 64.10 11.62 0.41 0.26
3.25 67.92 12.36 0.38 0.24

Fig.5

Actuating forces of knit actuators knitted by different diameter needles in process of actuation for a single cycle. (a) Output characteristics of F1;(b) Output characteristics of F2"

Fig.6

Actuating force of knit actuator driven by different current in process of actuation for a single cycle. (a) Output characteristics of F1; (b) Output characteristics of F2"

Fig.7

Actuating forces of knit actuator under different cooling time in process of cyclic actuation. (a) Cooling time of 20 s;(b) Cooling time of 15 s; (c) Cooling time of 10 s"

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