Use this URL to cite or link to this record in EThOS: | https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.280906 |
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Title: | Compliant polymeric actuators as robot drive units | ||||
Author: | Caldwell, Darwin Gordon |
ISNI:
0000 0001 3514 4811
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Awarding Body: | University of Hull | ||||
Current Institution: | University of Hull | ||||
Date of Award: | 1989 | ||||
Availability of Full Text: |
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Abstract: | |||||
A co-polymer made from Polyvinyl Alcohol and Polyacrylic
Acid (PVA-PAA) has been synthesized to form new robotic
actuation systems which use the contractile and variable
compliance properties of this material. The stimulation of
these fibres is studied (particularly chemical activation
using acetone and water), as are the factors which
influence the response, especially those relating to its
performance as an artificial muscle.
Mathematical models and simulations of the dynamics of the
polymeric strips have been developed, permitting a thorough
analysis of the performance determining parameters. Using
these models a control strategy has been designed and
implemented, with experimental results being obtained for
a gripper powered by a flexor/extensor pair formed using
these polymeric actuators.
An investigation of a second property of the polymer, its
variable compliance is alsoincluded. Use of this feature
has lead to the design, construction and testing of a multi
degree-of-freedom dextrous hand, which despite having only
a single actuator, can exercise independent control over
each joint.
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Supervisor: | Not available | Sponsor: | Not available | ||
Qualification Name: | Thesis (Ph.D.) | Qualification Level: | Doctoral | ||
EThOS ID: | uk.bl.ethos.280906 | DOI: | Not available | ||
Keywords: | Actuators, Co-polymer, Polyvinyl alcohol, Polyacrylic acid | ||||
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