本實驗延續了誘發人造肌肉收縮進而提起重物的研究，利用無電鍍法使纏繞式PET螺旋纖維外層均勻包覆上銀層，外加電壓時電流流過銀層所產生之功率將轉為熱能，進而促使內部PET纖維收縮而舉起重物，這就是為何此螺旋纖維可被稱為電控式人造肌肉的原因。
我們將此人造肌肉做機械性質、電性質和熱性質和的探討，除了測試了其外加電壓後的收縮距離及力量，也量測其I-V及I-t曲線。同時我們也利用DMA測量其潛變及應力鬆弛於玻璃轉換溫度以上的行為，並利用Burgers model 和standard linear solid model模擬各別的曲線，並推算出其彈簧常數、阻尼常數及熱活化能，根據不同training load和不同rotational speed所製成的人造肌肉予以比較。
由以上實驗可知，施加的電壓越大，收縮距離越大，收縮力也越大。溫度越高，彈簧常數、阻尼常數和活化能越小。越大的training load會使以上的常數越小，但在所有轉速中的1250 rpm時存在最小值。由recovery test可發現人造肌肉於潛變時並非塑性變形。 此外，Kelvin representation 更適合用來模擬潛變及應力鬆弛的數據曲線。

The research is to study inducing contractions of artificial muscles to lift heavy objects. The electroless plating method is used to coat twist-coiled PET fiber with a silver layer. When the electric current flows through the silver layer, electric power converts to heat, and stimulate the internal PET fiber contracting and lifting. This is the reason why this spiral fiber can be referred to as electrical control type artificial muscles.
The mechanical, electrical and thermal properties of the artificial muscle were studied. Contracted distances and forces after applied voltage were tested, and its I-V and I-t curves were also measured. We also measured the creep and stress relaxation above glass transition temperature by DMA, and simulated the curves by using Burgers model and standard linear solid model, respectively. We compare spring constants, damping constants, and thermal activation energies of artificial muscles made of different training loads and different rotational speeds.
According to the above experiments, we found that the higher voltage we applied, the larger the contracted distance and force are. At higher temperature, spring constant, and damping constant become smaller. The larger training load we induced, the smaller the above mechanical constants are, and there are minimum values at rotational speed 1250 rpm. We also found that creep for artificial muscles is not plastic deformation from the recovery test. Besides, Kelvin representation is more appropriate to simulate creep and stress relaxation curves.

Abstract II
摘要 III
Acknowledgments IV
Contents V
List of Tables VIII
Figure Captions XXVII
1. Introduction 1
2. Experimental procedure 6
2.1 Specimen Preparation 6
2.1.1 Materials 6
2.1.2 Fabrication of Silver Coated PET Artificial Muscle (or Twist-Coiled Actuator, TCA) 6
2.2 Optical Microscope 9
2.3 Scanning Electron Microscope (SEM) 9
2.4 Tensile Test 10
2.5 Electrical Actuation Test 10
2.6 Electrical Measurement 11
2.7 Confocal Microscope 12
2.8 Creep Test 12
2.8.1 Burger’s model Kelvin Representation 14
2.8.2 Burger’s model Maxwell Representation 19
2.8.3 The Transformed Relationship between Kelvin Representation and Maxwell Representation 22
2.9 Stress Relaxation Test 24
2.9.1 Standard Linear Solid Model Kelvin Representation 25
2.9.2 Standard Linear Solid Model Maxwell Representation 28
2.9.3 The Transformed Relationship between Kelvin Representation and Maxwell Representation 29
2.10 Tg Measurement by DMA 31
2.11 DSC Measurement 32
2.12 XRD Measurement 33
2.13 Hysteresis Loop 33
3. Results and Discussion 35
3.1 Optical Microscope Observation 35
3.2 SEM Observation 36
3.3 Tensile Test 36
3.3.1 Tensile Test of silver coated fiber 36
3.3.2 Tensile Test of TCA 37
3.4 Electrical Actuation Test 38
3.5 Electrical Measurement 39
3.5.1 I-V Measurement 39
3.5.2 I-t Measurement 41
3.6 Confocal Microscope Observation 42
3.7 Creep Test 43
3.7.1 TCA made by 0.48 mm fiber diameter with different training loads affected by different operating force 43
3.7.2 TCA made by 0.48 mm fiber diameter with different rotational speeds affected by different operating forces 45
3.7.3 TCA made by 0.25 mm fiber diameter with different training load affected by different operating forces 46
3.7.4 Silver-coated PET fiber made by 0.25 mm and 0.48 mm diameter affected by different operating forces 47
3.7.5 TCA made by 0.48 mm fiber diameter with different training load affected by different temperature 49
3.7.6 TCA made by 0.48 mm fiber diameter with different rotational speed affected by different temperature 50
3.7.7 TCA made by 0.25 mm fiber diameter with different training load affected by different temperature 52
3.7.8 Silver-coated PET fiber and TCA without training load affected by different temperature 53
3.8 Stress Relaxation Test 55
3.8.1 TCA with different operating displacements 55
3.8.2 TCA made by 0.48 mm fiber diameter with different training load affected by different temperature 56
3.8.3 TCA made by 0.48 mm fiber diameter with different rotational speed affected by different temperature 58
3.8.4 TCA made by 0.25 mm fiber diameter with different training load affected by different temperature 59
3.8.5 Silver-coated PET fiber and TCA without training load affected by different temperatures 60
3.9 Tg Measurement 61
3.10 Crystallinity 62
3.10.1 Fiber crystallinity 62
3.10.2 TCA crystallinity 62
3.11 Hysteresis Loop 63
4. Conclusions 65
References 67
Table 72
Figure 145

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