{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/31176"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/31176","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Design and control strategy of a flexible, hyper-redundant robotic arm using electroactive dielectric polymers","abstract":"Hyper-redundant, flexible robotic arms inspired by muscular hydrostats perform well in tightly-constrained spaces and are capable of complex movements. These types of manipulators possess a wide range of motion while also achieving complex geometrical configurations. Although, flexible structures that mimic muscular hydrostats like the octopus arm have been attempted in the literature by using pneumatic air muscles (PAM), shape memory alloys (SMAs), or strings and cables, light-weight, relatively power-dense dielectric electroactive polymers (EAP) can also be used in unison with a flexible robotic arm structure to provide actuation. This thesis presents a variety of designs for this type of robotic arm while utilizing a EAP model-guided approach to assist in arm design. Preliminary efforts have been made to manufacture a prototype arm design as well as learn about the EAP material properties through experimentation. Furthermore, this thesis presents a control strategy called partial differential equation (PDE) boundary control in hopes to effectively control arms of this nature. Experimental results are presented on PDE boundary control to validate its effectiveness.","abstract_html":"Hyper-redundant, flexible robotic arms inspired by muscular hydrostats perform well in tightly-constrained spaces and are capable of complex movements. These types of manipulators possess a wide range of motion while also achieving complex geometrical configurations. Although, flexible structures that mimic muscular hydrostats like the octopus arm have been attempted in the literature by using pneumatic air muscles (PAM), shape memory alloys (SMAs), or strings and cables, light-weight, relatively power-dense dielectric electroactive polymers (EAP) can also be used in unison with a flexible robotic arm structure to provide actuation. This thesis presents a variety of designs for this type of robotic arm while utilizing a EAP model-guided approach to assist in arm design. Preliminary efforts have been made to manufacture a prototype arm design as well as learn about the EAP material properties through experimentation. Furthermore, this thesis presents a control strategy called partial differential equation (PDE) boundary control in hopes to effectively control arms of this nature. Experimental results are presented on PDE boundary control to validate its effectiveness.","abstract_has_math":false,"creators":["Guan, Jinyu"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Chung, Soon-Jo"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2012,"date_issued":"2012-05-22T00:33:36Z","date_published":"2012-05-22T00:33:36Z","updated_at":"2026-07-22T22:25:30Z","subjects":["electroactive polymers EAPs robotics flexible hyper-redundant robotic arm design partial differential equation boundary control PDE boundary control experimental validation"],"languages":["en"],"rights":["Copyright 2012 Jinyu Guan"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/31176","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Chung, Soon-Jo"]},{"key":"dc:creator","label":"Author","values":["Guan, Jinyu"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2012-05-22T00:33:36Z","2012-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["electroactive polymers EAPs robotics flexible hyper-redundant robotic arm design partial differential equation boundary control PDE boundary control experimental validation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2012 Jinyu Guan"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/31176"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Hyper-redundant, flexible robotic arms inspired by muscular hydrostats perform well in tightly-constrained spaces and are capable of complex movements. These types of manipulators possess a wide range of motion while also achieving complex geometrical configurations. Although, flexible structures that mimic muscular hydrostats like the octopus arm have been attempted in the literature by using pneumatic air muscles (PAM), shape memory alloys (SMAs), or strings and cables, light-weight, relatively power-dense dielectric electroactive polymers (EAP) can also be used in unison with a flexible robotic arm structure to provide actuation. This thesis presents a variety of designs for this type of robotic arm while utilizing a EAP model-guided approach to assist in arm design. Preliminary efforts have been made to manufacture a prototype arm design as well as learn about the EAP material properties through experimentation. Furthermore, this thesis presents a control strategy called partial differential equation (PDE) boundary control in hopes to effectively control arms of this nature. Experimental results are presented on PDE boundary control to validate its effectiveness.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-04-27T13:55:49Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Guan_Jinyu.pdf: 4503183 bytes, checksum: c3a0ecc159ee6c7c631b97b8eb7a8400 (MD5)","Made available in DSpace on 2012-05-22T00:33:36Z (GMT). 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Although, flexible structures that mimic muscular hydrostats like the octopus arm have been attempted in the literature by using pneumatic air muscles (PAM), shape memory alloys (SMAs), or strings and cables, light-weight, relatively power-dense dielectric electroactive polymers (EAP) can also be used in unison with a flexible robotic arm structure to provide actuation. This thesis presents a variety of designs for this type of robotic arm while utilizing a EAP model-guided approach to assist in arm design. Preliminary efforts have been made to manufacture a prototype arm design as well as learn about the EAP material properties through experimentation. Furthermore, this thesis presents a control strategy called partial differential equation (PDE) boundary control in hopes to effectively control arms of this nature. 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