Conference paper Open Access

TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems

Alejandro Ernesto Gómez Tamm; Pablo Ramón Soria; B. C. Arrue; Anibal Ollero


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  <identifier identifierType="URL">https://zenodo.org/record/3573654</identifier>
  <creators>
    <creator>
      <creatorName>Alejandro Ernesto Gómez Tamm</creatorName>
      <affiliation>Universidad de Sevilla</affiliation>
    </creator>
    <creator>
      <creatorName>Pablo Ramón Soria</creatorName>
      <affiliation>Universidad de Sevilla</affiliation>
    </creator>
    <creator>
      <creatorName>B. C. Arrue</creatorName>
      <affiliation>Universidad de Sevilla</affiliation>
    </creator>
    <creator>
      <creatorName>Anibal Ollero</creatorName>
      <affiliation>Universidad de Sevilla</affiliation>
    </creator>
  </creators>
  <titles>
    <title>TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2019</publicationYear>
  <dates>
    <date dateType="Issued">2019-11-07</date>
  </dates>
  <resourceType resourceTypeGeneral="ConferencePaper"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/3573654</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1007/978-3-030-35990-4_4</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;The use of aerial systems in a variety of real applications is increasing nowadays. These offer solutions to existing problems in ways that have never seen before thanks to their capability to perform perching, grasping or manipulating in inaccessible or dangerous places. Many of these applications require small-sized robots that can maneuver in narrow environments. However, these are required to have also strength enough to perform the desired tasks. This balance is sometimes unreachable due to the fact that traditional servomotors are too heavyweight for being carried by such small unmanned aerial systems (UAS). This paper, offers a innovative solution based on twisted and coiled polymers (TCP) muscles. These tensors have a high weight/strength ratio (up&amp;nbsp;to 200 times) compared with traditional servos. In this work, the practical and modeling work done by the authors is presented. Then, a preliminary design of a bio-inspired claw for an unmanned aerial system (UAS) is shown. This claw has been developed using additive manufacturing techniques with different materials. Actuated with TCP, it is intrinsically compliant and offers a great force/weight ratio.&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/788247/">788247</awardNumber>
      <awardTitle>General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety</awardTitle>
    </fundingReference>
  </fundingReferences>
</resource>
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