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Ionic Electroactive Polymer Devices: Physics-Based Modeling With Experimental Investigation And Verification, Tyler Paul Stalbaum

UNLV Theses, Dissertations, Professional Papers, and Capstones

The primary focus of this study is to examine, understand, and model ionic electroactive polymer based systems in attempt to further develop this field of study. Physics-based modeling is utilized, as opposed to empirical modeling, to achieve a deeper insight to the underlying physics. The ionic electroactive polymer system of primary interest in this study is ionic polymer-metal composite (IPMC) devices. Other similar devices, such as anion-exchange membrane (AEM) type actuators and flow battery systems are also investigated using the developed model. The underlying physics are in the studies of transport phenomenon for describing the ionic flow within the polymer …

Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder

UNLV Theses, Dissertations, Professional Papers, and Capstones

Actuators determine the performance of robotic systems at the most intimate of levels. As a result, much work has been done to assess the performance of different actuator systems. However, biomimetics has not previously been utilized as a pretext for tuning a series elastic actuator system with the purpose of designing an empirical testing platform. Thus, an artificial muscle tendon system has been developed in order to assess the performance of two distinct actuator types: (1) direct current electromagnetic motors and (2) ultrasonic rotary piezoelectric motors. Because the design of the system takes advantage of biomimetic operating principles such as …

Design And Analysis Of Hydrogen Powered Actuator Integrating Metal Hydride Storage System, Md Mainul Hossain Bhuiya

UNLV Theses, Dissertations, Professional Papers, and Capstones

The multi-fold purposes of this dissertation consists of construction, simulation and validation of a model describing hydrogen sorption kinetics in metal hydride. The project involves a comprehensive review of engineering applications involving metal hydrides and furthermore, design and investigation of a thermo-kinetically driven actuation system integrating metal hydrides for compact and soft robotic actuation. This will also shed some light on the feasibility of designing a damping system integrating metal hydride. Firstly, a mathematical model along with comprehensive simulation strategy of hydrogen absorption and desorption processes in porous metal hydride compacts was developed. A two dimensional axisymmetric model was built …

Modeling And Control Of A Flexible Ionic Polymer Metal Composite(Ipmc) Actuator For Underwater Propulsion, Shivakanth Gutta

UNLV Theses, Dissertations, Professional Papers, and Capstones

The goal of this research is to model and control the underwater vehicle propelled by IPMC actuator. IPMC consists of an ionic membrane sandwiched between two metallic electrodes. When an external voltage is applied, IPMC undergoes large deformation due to transport of ions. Due to its ability to work in aqueous environments, it can be used for developing small scale underwater vehicles.

First, Finite element approach is used to describe the dynamics of the both single and segmented IPMC actuator. In the approach presented, each element is attached with a local coordinate system that undergoes rigid body motion along with …