Figure 8
Torsional actuation for two-end–tethered, wax-infiltrated yarns. (a) Average rotation rate versus cycle number when excited by a 15 Hz, 40 V/cm, square-wave voltage using 50% duty cycle and 41 MPa applied load. Each point on the graph is the average speed over 120 cycles. Inset: rotation angle and rotation speed versus time for one complete cycle (b) Average rotation rate versus applied electrical power for different tensile loads when using the yarn of (a) and a heavier paddle. Inset: rotation angle and speed versus time for 51.5 MPa load [2].