Design of flexible actuators using electro-active polymers and CPG-based control strategies

Sanghi, Nitish

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https://hdl.handle.net/2142/44228 Copy

Description

Title

Design of flexible actuators using electro-active polymers and CPG-based control strategies

Author(s)

Sanghi, Nitish

Issue Date

2013-05-24T21:54:50Z

Director of Research (if dissertation) or Advisor (if thesis)

Chung, Soon-Jo

Department of Study

Mechanical Sci & Engineering

Discipline

Mechanical Engineering

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Date of Ingest

2013-05-24T21:54:50Z

Keyword(s)

• Electro-active polymer (EAP)
• Central Pattern Generator (CPG)
• Dielectric Electro-active polymer (DE EAP)

Abstract

Biomimetic design based on inspiration from nature for solutions for engineering problems has been practiced throughout human history. Invertebrate animals without a skeletal struc-ture have exible, robust and agile movements. For example, the octopus arm which is able to grip objects by exerting large forces, moves with a wide range of velocities, and manip-ulates delicate objects, without any rigid skeletal elements. Two key applications of such biomimetic systems are compliant and lightweight robotic arms for tightly constrained spaces and energy-e cient muscle actuators for biomimetic locomotion. Inspired by octopus arm, in this thesis we investiagte di erent design concepts and require-ments for using dielectric electroactive polymers (EAP) for designing of exible actuators and manipulators. A model-guided approach to design a bio-inspired exible actuator mod-ule is presented analyzed. Further, mathematical modelling for Central Pattern Generators (CPGs) is presented. The condition for phase synchronization of coupled single chain oscil-lators is derived and various techniques for pattern generation using oscillator network are studied. Finally, octopus based control using Central Pattern Generators (CPGs) is brie y discussed.

Graduation Semester

2013-05

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http://hdl.handle.net/2142/44228

Copyright and License Information

Copyright 2013 Nitish Sanghi

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