ワイヤ貯蔵型パンタグラフを用いた釣糸人工筋肉のひずみ・力増幅

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  • Development of a wire-storage pantograph mechanism to amplify both the strain and force of the twisted and coiled polymer fiber

説明

<p>This paper proposes a pantograph mechanism that amplifies both the strain and force of the twisted and coiled polymer fiber (TCPF). In the proposed mechanism, the TCPF is stored in the pantograph and forms several loops around the circumference and inside of pantograph. The outer loop works as the fixed pulley that amplify the TCPF strain. On the other hand, the inner loop amplifies the TCPF force by working as the movable pulley Through experiments when setting the number of outer and inner loops to 1, it was validated that the force by the proposed mechanism can output approximately double of the TCPF force. Furthermore, it was demonstrated that the strain can be amplified simultaneously.</p>

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