Fiber Waveguide Photoactuator for Long-Distance Polyarticular Manipulation

Area of Science:

• Materials Science
• Robotics
• Optics

Background:

• Fiber waveguide photoactuators (FWPAs) offer advantages for space manipulation like EMI immunity and lightweight design.
• Existing FWPAs have limitations in manipulation distance, power control, temperature tolerance, and articulation, restricting their space application potential.

Purpose of the Study:

• To develop a high-performance FWPA overcoming current limitations for enhanced space manipulation capabilities.
• To explore novel FWPA designs and cascading mechanisms for diverse space applications.

Main Methods:

• Developed a FWPA utilizing optical fiber bending loss for light power coupling to thermal-sensitive materials.
• Achieved high optical coupling efficiency (~98.9%) and programmable light power control.
• Demonstrated kilometer-scale serial polyarticular cascading manipulation with low energy consumption.

Main Results:

• Achieved a bending angle exceeding 200° with high optical coupling efficiency.
• Demonstrated kilometer-scale manipulation with low energy consumption (17 mW/°, 53 mW/mN).
• Exhibited high stability, EMI immunity (<5.5% variation), and wide temperature shock tolerance (-196 to 175 °C).

Conclusions:

• The developed FWPA meets critical requirements for space-relevant manipulation.
• Nine fundamental FWPA designs and four cascading devices were created for various space applications like twisting, grasping, and actuation.