2026-09-21T00:59:59Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/31176 2023-07-10 col_2142_14800 col_2142_5131 com_2142_14799 com_2142_234 com_2142_5130

Chung, Soon-Jo Guan, Jinyu 2012-05-22T00:33:36Z 2012-05-22T00:33:36Z 2012-05 2012-05-22T00:33:36Z 2012-05 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 Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-04-27T13:55:49Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: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). No. of bitstreams: 2 Guan_Jinyu.pdf: 4503183 bytes, checksum: c3a0ecc159ee6c7c631b97b8eb7a8400 (MD5) license.txt: 4058 bytes, checksum: ddcc88c2fe898a7342bfdcc2560d6f0d (MD5) http://hdl.handle.net/2142/31176 en Copyright 2012 Jinyu Guan electroactive polymers EAPs robotics flexible hyper-redundant robotic arm design partial differential equation boundary control PDE boundary control experimental validation Design and control strategy of a flexible, hyper-redundant robotic arm using electroactive dielectric polymers text Aerospace Engineering 1615 Aerospace Engineering 4048 University of Illinois at Urbana-Champaign Thesis M.S. MS: Aerospace Engr -UIUC 10KS4048MS