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A Device for Producing Artificial Muscles from Fishing Line
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- เผยแพร่เมื่อ 15 ต.ค. 2016
- Artificial Muscle Twister - an open source device for producing artificial muscles from nylon fishing line with a heater wire. Project page iskanderus.ru/a....
The device was presented at IEEE International Symposium on Assembly and Manufacturing (ISAM) collocated with 12th Conference on Automation Science and Engineering 2016. August, 21, Fort Worth, Texas, USA (Paper: A. N. Semochkin, "A device for producing artificial muscles from nylon fishing line with a heater wire", 2016 IEEE International Symposium on Assembly and Manufacturing (ISAM), Fort Worth, TX, USA, 2016, pp. 26-30. doi: 10.1109/ISAM.2016.7750715)..
A method of manufacturing muscle was first suggested in the paper: C. S. Haines, M. D. Lima, N. Li, G. M. Spinks, J. Foroughi, J. D. W. Madden, S. H. Kim, S. Fang, M. J. de Andrade, F. Göktepe, Ö. Göktepe, S. M. Mirvakili, S. Naficy, X. Lepró, J. Oh, M. E. Kozlov, S. J. Kim, X. Xu, B. J. Swedlove, G. G. Wallace, and R. H. Baughman, “Artificial Muscles from Fishing Line and Sewing Thread,” Science, vol. 343, no. 6173, pp. 868-872, Feb. 2014.
The description, software, 3D models and assembly guide are available as open source : iskanderus.ru/a...
Links to the paper:
ieeexplore.ieee...
ras.papercept....
Contacts:
/ iskanderuse
iskanderus.ru
lit.bgpu.ru
That is brillant...
Now I have to find the plans for the machine or see if there are manufactured muscles already available for sale.
Thank you for your research! The details on your website surrounding e-learning and object recognition was fascinating...
Bionic limbs.
Wow; devices like this can get us closer to commercially viable production for general use.
And perhaps in the future there can be muscle modules that are plug and play.
Still the problem of long expansion time which need effective cooling in order for this type of actuator to be practical.
and this device is brilliant great job :)
Ребят, не знаю, как у вас там успехи, но вы красавцы
Im currently starting on a project for aiding people with muscle atrophy. I was hoping to incorporate these coils into wearable material than can aid in physical activity. Perhaps it can be thought of as an arrifical external muscle. This machine would increase my output vastly. In the small amount od time i have, it takes a day just for a few working coils.
I'm embarking on a stupidly complex animatronic project utilizing this form of artificial muscle and this is the first video I've seen using copper wire to cause the muscle to actuate. How does the copper stand up to repeated cycles? I'm surprised it didn't snap from work hardening during the nylon coiling process.
wow. very cool. would love to see this in an a robot project.
What if we use a bimetal wire ?
we could then produce heath and cold by inversing the polarity and obtain a faster working frequency no?
Hey, amazing work! I have just one question: Did you find that the copper being wound around the nylon first had an effect on contraction length as it would increase the fibre bias angle, or did it not make a difference?
Hi, Tyler Clark. It did not make a difference.
brilliant thank you :)
Hi and great project @Iskanderuse. I have brought the majority of the parts as listed. I am struggling to find the Fully Threaded Stud M8 at the various sizes, also based on the images they look a lot longer, could anyone give help on this, on where I could be going wrong/misunderstanding.
In the assembly instructions, there is only reference to 1 of the 3 of the stud sizes(M8 x 38mm) I can not see any information on the other m8 studs (M8 x 25mm and M8 x 44mm). Any help is appreciated.
Managed to get something working, th-cam.com/users/shortsbKmEPV4SRgM?feature=share will post some updates after some testing.
Maybe I missed it somewhere, but how much voltage/current is applied to wire?
No. You didn't miss it.
@@rkhyden1950then is it like a fancy spring?
I'm working on a project for disabled people. This can make a miracle
Thanks for sharing this Alexander! Very impressive! Because of the internal friction losses, I was getting about the same range of motion from a 10cm muscle made from 4-ply Shieldex that you are getting out of a 4cm monofilament muscle.
I noticed that the coils are pretty tight on your trained muscles. That means you have to overcome that built-in tension or introduce a pre-tension to your actuator assemblies before the muscle will move. Have you tried stretching the muscle out when you anneal it so that there is a gap between the coils at rest?
Thank You very much, Andrew! Yes, I tried stretching the muscle out when it was being anneal. But I not noticed any meaningful difference yet.
Amazing! Did you have to heat treat the muscles at all?
How much did the weights that the thread was lifting weigh?
Hello! Awesome work! And I'm wondering how did you make loop at the both side of the fishing line? Did you use somekinds of crimp terminals?? Because I'm struggling with attaching fishing line with other rigid frame and your idea looks great.
A piece of nylon thread 30 cm long is cut, and fixing loops of 10 mm are made at the ends of it. Loops are fixed with the help of pieces of copper pipe, 2 mm diameter and 5 mm long, which are clamped with pliers.
Nice!
is there knowledge/evidence of differently quick muscles too?
Hello! I'm truly impressed by your work. I'm currently exploring the idea of creating a biomimetic prosthetic hand using Nylon Artificial Muscles. If I were to bundle multiple of these together, do you believe they could generate enough force to serve as both extensor and flexor muscles? Additionally, could you share insights on the annealing process for your artificial muscles? I'm eager to learn more. Would it be possible to contact you via email for further discussion?
Awesome work, can you please elaborate on your annealing process?
The artificial muscle, prepared this way, should be stretched on a special wire frame and placed in an oven and heated slowly for half an hour up to a polymer melting point, which is about 180 degrees Celsius for nylon.
Iskanderuse Thanks for the rapid reply, gives me a good direction.
I had use different brand of nylon fishing line to produce artificial muscle and heat it by using nickel wire but the contraction is about 2%. I think there is something wrong in my fishing line, so could you tell me what is the brand of the nylon fishing line you used in this video? Thank you.
Shi Keat Lee, I used Klinskaya® fishing line. It is russian brand. It is nylon 6, not nylon6.6.
Hello! you use specifically nylon 6.6? Another type of 6.0 or monofilament 6.10 would alter the results?
Yes, I think. But insignificantly. Other researchers have mainly studied Nylon 6. In any case, the muscles will work :)
Thank you very much. Congratulations for the work.
The type of nylon can make a huge difference if you want predictable performance! We just built a rig that used 100 muscles in parallel to generate >15kg of force. Right in the middle of the project, we ordered more conductive thread from Shieldex, but the new thread was completely different from the first batch. After days of frustration and lot of broken muscles, we figured out that Shieldex had switched up their nylon chemistry.
Probably a good solution is the development of special fibers with better heating parameters...
Iskanderuse polyethylene is also as evident by both my own brief experiment as well as many others is a material which when overcoiled demonstrates identical behavior. I will though move onto nylon 6.6 due to it's superior attributes in relation to the melting point, as well as tensile strength. Generally a better material for the task i had assigned to my polyethylene actuators, which shortly after a comparative test using a heat gun melted after a few seconds of exposure. Though they do contract still. Considering a wire filament of 0.2 millimeters with 203.333333 milliamps going through it with a length of 37 centimeters would heat at a rate of 4 degrees celsius per second, i definitely need to up the heat durability for my prototype models.
Hi! Very interesting. How do youcommand the shortening? By Joule effect? But there is no a short circuit on the copper wire? thank you
Yes, control based on the Joule effect. Power is supplied for a short period of time, the conductor has time to heat up, but not burn out.
I'm a little lost here. How is the muscle contracted and relax?
Here You can find beautiful description:
th-cam.com/video/H19p43NFqp4/w-d-xo.html
Is the machine design on thingiverse?
http:/iskanderus.ru/amt-core
Would it be possible to improvise this device with a machining lathe?
can i buy 1kg of muscle fibres?
That is awesome. Is there any relation between voltage and speed?
The rate of contraction depends on the heating rate.
Hello I was wondering if you have experimented with nichrome wire? I have read somewhere that you can substitute the fishing line with 30 gauge nichrome wire and it reacts the same way when a current is applied. I have failed to reproduce this effect so far and was wondering if you had any pointers perhaps?
May be You mean nitinol wire? It is shape memory alloy.
I have researched about nitinol (a very interesting subject) however I remember they were talking about very thin nichrome wire as a fishing line replacement, so that you don't have to use an external heat source, you can just run a current through it. I will try and find the original article. I was just wondering if you have experimented with that and if you could offer any advice. Thanks!
А за счёт чего работает-то, ток подаётся и что-то нагревается, или как?
да, подается ток, нейлоновая леска нагревается и меняет форму
Very intersesting machine. Is it possible to find plans or to buy it ?
Eric Despontin You can find the sources of the device here: iskanderus.ru/amt-core
Thank you very much and thank you for your work !!!!!
Can buy muscles?!? I don't suppose this machine is still in operation, is it? Making the machine myself would be its own project, but I don't currently have the time to make one (also need a 3D printer and those linear rails). But I would still be interested in studying the properties of these artificial muscles. Is it possible for me to order parts (fishing line, magnetic wire, crimps, crimper) and request a batch to be made?
Things I think may help if I made my own version would be, first twist the line until it is just about to coil up, then wrap the wire around the line, then keep twisting it till it coils up. The reason for this would be, I notice that the final results, the copper wire was not in full contact with the line, I think this may be due to the idea that the line could have stretch during the process, lost some of its diameter, and gave the copper wire some slack. waiting until the wire reaching its max stretch before coiling up I think will help prevent this warping and allow the wire to maintain contact because the line would no longer warp further.
I don't know about most people, but I am most interested in making the smallest but long muscles. Your use of crimps was brilliant, and I hadn't seen anyone else use that idea before, they really help with making the muscle easy to work with, i assume. I bring up the points of order my own parts because of a particular muscle design (small as possible). I can find magnetic wire as low as 38 AWG, or .008 of an inch diameter, which assuming I want the wire to wrap around the line, it would need to be smaller, so the smallest practical line size would have the diameter of .01 or .02 of an inch, so about a range of fishing line of 10 to 40 lb monofiliment. I would try the 10lb myself just to go as small as possible. The hope would be to make more compact artificial limbs for cheep. and at that wire guage, 200mA would be the max power draw per segment, so it is fairly power effcient depending on the number of lines.
In other works, I see some claim that after heating the muscle, the coil will keep its shape. in others works, I hear that if you twist two muscles one way, and then twist the muscles together in the oppisite direction, that these counter twists will work to lock the lines together (same thing with thread) have you tried this? Even though your lines are a bit shorter than how I would want them, I think they are the perfect size to make them modular so that they can be connected in series to make the muscles long enough for my own needs.
Has anyone elso worked with these or is interested???
The device is working. I saw pictures of the devices assembled by my instructions, and the muscles made with their help. This is mainly done by scientists who are exploring new approaches to creating bio-like muscles. Unfortunately, I do not sell parts and muscles. On your questions, I see you deeply understand the essence of the problems with such muscles. Especially the idea "..first twist the line until it is just about to coil up, then wrap the wire around the line ..". With the help of this device, this can be done easily. I'll try, thank you. I plan to create the next version of the device for making longer muscles. However, the muscles obtained from the current version of the device can be connected in parallel and sequentially, obtaining either stronger or longer muscles. I conducted such experiments. Thank you for your interest!
Sounds neat! I hope you make a video of the new device (in progress videos too? :D ). Glad I was able to spark out a new experiment for you to try.
I was able to get my hands on what I believe are the original 2014 publications of the fishing line muscles from my local university. After reading through and seeing their explanation of the working of the internal forces, I am not certain if having wire wound around the line may inhibit proper polymer expansion needed to generate the internal stresses for the muscle to contract, or if it is fine to have a tight winding. In the paper and experiments, instead of a wire, they completely covered the wire in carbon nanotubes and used that as the electrically actuated heating element. in the paper, they completely covered the line with these nanotubes, as if it didn't interfere with the lines ability to expand and contract in the micro level (movement maxes out at 2% at the micro level), so I guess it is safe to have a tight wire. In the paper, they mentioned using conductive thread, which when I researched it, is nylon fiber with a silver coating, in that case, you wouldn't need to wind a wire at all (so long as you buy the nylon type and not the stainless steel threads) but then there is the issue of how much current you can push through the wire before something fails. Have you considered using conductive thread yet?
I even tried to spray a ready-made muscle with silver there :)
scontent-arn2-1.xx.fbcdn.net/v/t31.0-8/fr/cp0/e15/q65/11063649_1659414064339184_8451615301244893098_o.jpg?efg=eyJpIjoidCJ9&oh=d9ec5c4d8218643cddc1eac0758505b5&oe=5B4AEC11
Nice! Did you get better results, or does the wire do a good enough job for the lower price point?
Yes, the wire is cheaper, and it seems to be more durable.
Is the 44 N cm holding torque enough for 50 / 75 lb line?
what is the diameter of this line, monofilament or not?
+Iskanderuse I need a higher lb rating for more lifting strength, do you know what the highest lb rated line you can coil using the 44 N cm motors you used?
should be determined experimentally..
have you considered testing other lines?
I tried maximum diameter of 1.0 mm
weird