Design and testing of fiber-constrained electroactive polymer

Soft robotics take advantage of active materials to regenerate many complex motions, including low-force functions, such as camouflage, micro-grabbing, or agile locomotion of micro robot. For these applications, traditional actuators, like electric motors and combustion engines, are unnecessarily large and heavy. In contrast, electro-active polymers (EAP) such as electrostatically actuated dielectric elastomers (DE) are considered very suitable technologies for these applications. In particular, owing to their simplicity, high strain and energy densities, and low noise, DE’s are currently the most promising candidates for small scale biomimetic applications. In this study, new fiber-constrained DE designs are developed, in order to obtain controlled uniaxial actuation that suits soft robotics and small scale actuation. Also, micro-wrinkle instabilities that occur in fiber-constrained membranes are examined. The property of wrinkle defers by controlling the geometrical parameters and the amount of strain in a membrane. Therefore controlling the shape of wrinkle is applicable for micro-actuation. In addition, image analysis methodology is discussed and creative ways of analyzing the image data is established.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Lee, Kun Hyuck

• electroactive polymer
• dielectric elastomer
• electromechanical system
• thermodynamic
• micro-architectured electro-elasto-kinematic (MEEK)
• high-stiffness-micro-fiber (HSMF)
• prestretching
• contraction
• anisotropy
• actuation
• soft robotics
• biomimetic
• buckling
• Instability
• wrinkle
• compliant electrode
• fiber-constraint
• conductive wire
• image processing
• Fourier Transform
• Fourier Series
• fiber alignment
• conformation state
• electrostatic pressure
• dipole
• polarization

Statement dc:rights

• Copyright 2015 Kun Hyuck Lee

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/78694

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/78694