Soft robot for impulsive hopping drive
Arch flexure dielectric elastomer finger (DEMES) provides fast-response and high- strength. It is based on DEAs segmented by polyimide frame, bonded to a passive PVC frame at width mismatch. Bending moment from active layer is balanced by reactive moment by passive layer, forming a longitudinally cu...
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| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
2018
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| Online Access: | http://hdl.handle.net/10356/75539 |
| _version_ | 1811696535176478720 |
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| author | Khoo, Kar Keng |
| author2 | Lau Gih Keong |
| author_facet | Lau Gih Keong Khoo, Kar Keng |
| author_sort | Khoo, Kar Keng |
| collection | NTU |
| description | Arch flexure dielectric elastomer finger (DEMES) provides fast-response and high- strength. It is based on DEAs segmented by polyimide frame, bonded to a passive PVC frame at width mismatch. Bending moment from active layer is balanced by reactive moment by passive layer, forming a longitudinally curled finger. Voltage application releases active layer’s tension, uncurling the finger. This project reports the locomotion analysis of impulsive hopping drive soft robot with inch-worm-like locomotion. DEMES-roller and 2-DEMES configurations were studied with the former having higher speed. For DEMES-roller configuration, the frequency of 15Hz provided fastest locomotion speed at 0.42BL/s. DEMES model was also presented to predict experimental results with good conformation. Better DEMES design with cleaner fabrication, less motion-constraint, less-distortion and longer lifetime (3-week) was reported. The performance improvement DEMES such as consistency, full-uncurling ability at static actuation and better dynamic response was documented. In static test, 68.27° mean tip angle change was recorded, comparable to previous design with similar configurations. In dynamic test, 3Hz and 9Hz of resonant frequencies were recorded with 127.13° maximum tip angle change at 9Hz. Dynamically, the curling and uncurling rise times were improved to 38ms and 42ms respectively. |
| first_indexed | 2024-10-01T07:40:54Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/75539 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:40:54Z |
| publishDate | 2018 |
| record_format | dspace |
| spelling | ntu-10356/755392023-03-04T18:22:11Z Soft robot for impulsive hopping drive Khoo, Kar Keng Lau Gih Keong School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering Arch flexure dielectric elastomer finger (DEMES) provides fast-response and high- strength. It is based on DEAs segmented by polyimide frame, bonded to a passive PVC frame at width mismatch. Bending moment from active layer is balanced by reactive moment by passive layer, forming a longitudinally curled finger. Voltage application releases active layer’s tension, uncurling the finger. This project reports the locomotion analysis of impulsive hopping drive soft robot with inch-worm-like locomotion. DEMES-roller and 2-DEMES configurations were studied with the former having higher speed. For DEMES-roller configuration, the frequency of 15Hz provided fastest locomotion speed at 0.42BL/s. DEMES model was also presented to predict experimental results with good conformation. Better DEMES design with cleaner fabrication, less motion-constraint, less-distortion and longer lifetime (3-week) was reported. The performance improvement DEMES such as consistency, full-uncurling ability at static actuation and better dynamic response was documented. In static test, 68.27° mean tip angle change was recorded, comparable to previous design with similar configurations. In dynamic test, 3Hz and 9Hz of resonant frequencies were recorded with 127.13° maximum tip angle change at 9Hz. Dynamically, the curling and uncurling rise times were improved to 38ms and 42ms respectively. Bachelor of Engineering (Mechanical Engineering) 2018-06-01T06:27:25Z 2018-06-01T06:27:25Z 2018 Final Year Project (FYP) http://hdl.handle.net/10356/75539 en Nanyang Technological University 81 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Mechanical engineering Khoo, Kar Keng Soft robot for impulsive hopping drive |
| title | Soft robot for impulsive hopping drive |
| title_full | Soft robot for impulsive hopping drive |
| title_fullStr | Soft robot for impulsive hopping drive |
| title_full_unstemmed | Soft robot for impulsive hopping drive |
| title_short | Soft robot for impulsive hopping drive |
| title_sort | soft robot for impulsive hopping drive |
| topic | DRNTU::Engineering::Mechanical engineering |
| url | http://hdl.handle.net/10356/75539 |
| work_keys_str_mv | AT khookarkeng softrobotforimpulsivehoppingdrive |