Twisted and coiled polymer (TCP) actuators are flexible, wearable, and cost effective. However, the effects of annealing temperature on the properties of these devices are poorly understood. Thus, TCPs were prepared using ultra-high molecular weight polyethylene (UHMWPE) fibers and NiCr string and characterized. High-temperature annealing caused internal crystal-phase transformation, and annealing at 130 °C yielded a coiled fiber with optimized mechanical properties. Electromechanical tests confirmed that TCPs prepared from UHMWPE fibers annealed at 130 °C exhibited the best performance. Additionally, the voltage, displacement, tensile force, and temperature variation in the TCP fibers were recorded under different driving currents and pre-load forces to determine the optimal working conditions, and 1200-cycle life-span tests were carried out for validation. Finally, the driving performance of a TCP array was explored, and the range of motion, pressure, and possibility of lifting weights were tested using a model finger. Overall, the TCP array can be used as a soft actuated dexterous hand robot.

扭曲卷曲聚合物 (TCP) 执行器灵活、耐磨且具有成本效益。然而，人们对退火温度对这些器件性能的影响知之甚少。因此，使用超高分子量聚乙烯 (UHMWPE) 纤维和镍铬线制备 TCP 并进行表征。高温退火引起内部晶相转变，130°C 退火产生了具有优化机械性能的卷曲光纤。机电测试证实，由在 130 °C 退火的 UHMWPE 纤维制备的 TCP 表现出最佳性能。此外，记录不同驱动电流和预紧力下TCP纤维的电压、位移、拉力和温度变化，以确定最佳工作条件，并进行1200次寿命测试进行验证。最后，探索了 TCP 阵列的驱动性能，并使用模型手指测试了运动范围、压力和举重的可能性。总体而言，TCP 阵列可用作软驱动灵巧手机器人。