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An Investigation Of Soft Electrohydraulic Actuators: Theory, Characterization, And Conceptual Applications, Alexandrea Washington

UNLV Theses, Dissertations, Professional Papers, and Capstones

Electroactive polymer (EAP) materials are a novel soft electromechanical device that exploits the inherent electrical and mechanical advantages of flexible polymer materials. Within this groundbreaking field there are various actuator and sensor devices that have been developed for a variety of applications, from medical devices to artificial biological systems. This research focuses on electrohydraulic actuators, which are comprised of a flexible conductive medium, a dielectric fluid, and a compliant film material to encapsulate the dielectric fluid. This specific study centers around the electrohydraulic EAP actuator known as the Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuator, first introduced by the Keplinger group …

Thermo-Mechanical Modeling And The Application Of Coiled Polymer Actuators In Soft Robotics And Biomimetics, Robert Hunt

UNLV Theses, Dissertations, Professional Papers, and Capstones

Coiled polymer actuators (CPA) are a recently discovered smart material. Due to their large tensile stoke and power densities they are often used as actuators or artificial muscles. CPA’s are fabricated from a polymer fiber, typically nylon, mechanically twisted into a coil or coiled around a mandrel and annealed. When heated over the glass transition temperature they can contract, expand or exhibit torsional actuation, depending on the fabrication method and end conditions.

The fabrication and application of CPA is well documented and has made many innovations in the fields of smart materials, soft robotics and the likes. However, there is …

The Design, Modeling, And Optimization Of A Biomimetic Soft Robot For Fluid Pumping And Thrust Generation Using Electroactive Polymer Actuators, Zakai Jedidiah Olsen

UNLV Theses, Dissertations, Professional Papers, and Capstones

Nature is a constant source of inspiration for engineers and scientists through its simple, effective, and elegant solutions to many complex problems. Smart materials and soft robotics have been seen to be particularly well suited for developing biomimetic devices and are active fields of research. In this study, the design, modeling, and optimization of a new biomimetic soft robot is described. Preliminary work was made in the modeling of a biomimetic robot based on the locomotion and kinematics of jellyfish. Modifications were made to the governing equations for jellyfish locomotion that accounted for geometric differences between biology and the robotic …