Dielectric elastomers for space robotics applications

Soft robots, devices with deformable bodies powered by soft actuators, may fill a hitherto unexplored niche in space. All space-bound payloads are heavily limited in terms of mass and volume, due to the cost of launch and the size of spacecraft. Being constructed from flexible materials allows many possibilities for compacting soft robots for launch and later deploying into a much larger volume, including folding, rolling, and inflation. This morphability can also be beneficial for adapting to operation in different environments, providing versatility and robustness. To be truly soft, a robot must be powered by soft actuators. Dielectric elastomer transducers (DETs) made from carbon-silicone composites offer many advantages as artificial muscles; they are lightweight, have a high work density, and are capable of artificial proprioception. Taking inspiration from nature, we have developed low-mass robots capable of performing complex motion and compacting to a fraction of their operating size using DETs incorporated into inflatable polymer structures. Traditional inflation mechanisms cannot be incorporated into our soft structures, so low mass and flexible inflation systems were experimented with as potential mechanisms for deployment. There are many challenges associated with protecting and maintaining a soft, inflated structure in the harsh space environment, including radiation, thermal vacuum, micrometeoroids and orbital debris, and atomic oxygen. We explore these and present some methods to mitigate some of these risks.

Name thesis:degree_name

PhD

Level thesis:degree_level

Doctoral

Discipline thesis:degree_discipline

Bioengineering

Grantor dc:publisher

ResearchSpace@Auckland

Year dc:date.issued

2022

Author dc:creator

• Ashby, Joseph E.

Advisors dc:contributor.advisor

• Anderson, Iain A.
• Rosset, Samuel
• Henke, E.-F. Markus

Statement dc:rights

• Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

Licence dc:rights.uri

• https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm

Handle dc:identifier.uri

https://hdl.handle.net/2292/62185

OAI identifier oai:identifier

oai:researchspace.auckland.ac.nz:2292/62185