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
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
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.
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