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Full-Text Articles in Physical Sciences and Mathematics
3d-Printing And Machine Learning Control Of Soft Ionic Polymer-Metal Composite Actuators, James D. Carrico, Tucker Hermans, Kwang J. Kim, Kam K. Leang
3d-Printing And Machine Learning Control Of Soft Ionic Polymer-Metal Composite Actuators, James D. Carrico, Tucker Hermans, Kwang J. Kim, Kam K. Leang
Mechanical Engineering Faculty Research
This paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods …
Design And Modeling Of A New Biomimetic Soft Robotic Jellyfish Using Ipmc-Based Electroactive Polymers, Zakai J. Olsen, Kwang J. Kim
Design And Modeling Of A New Biomimetic Soft Robotic Jellyfish Using Ipmc-Based Electroactive Polymers, Zakai J. Olsen, Kwang J. Kim
Mechanical Engineering Faculty Research
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 and modeling of a new biomimetic soft robot is described. Initial 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 design. In particular, the capability of the model to account for the mass and geometry of the robot design has been added for better …
Non-Einstein Viscosity Phenomenon Of Acrylonitrile–Butadiene–Styrene Composites Containing Lignin–Polycaprolactone Particulates Highly Dispersed By High-Shear Stress, Sing-Hoon Kim, Kisuk Choi, Kyouk Ryeol Choi, Taesung Kim, Jonghwan Suhr, Kwang Jin Kim, Hyoung Jin Choi, Jae-Do Nam
Non-Einstein Viscosity Phenomenon Of Acrylonitrile–Butadiene–Styrene Composites Containing Lignin–Polycaprolactone Particulates Highly Dispersed By High-Shear Stress, Sing-Hoon Kim, Kisuk Choi, Kyouk Ryeol Choi, Taesung Kim, Jonghwan Suhr, Kwang Jin Kim, Hyoung Jin Choi, Jae-Do Nam
Mechanical Engineering Faculty Research
Lignin powder was modified via ring-opening polymerization of caprolactone to form a lignin–polycaprolactone (LPCL) particulate. The LPCL particulates were mixed with an acrylonitrile–butadiene–styrene (ABS) matrix at an extremely high rotational speed of up to 3000 rpm, which was achieved by a closed-loop screw mixer and in-line melt extruder. Using this high-shear extruding mixer, the LPCL particulate size was controlled in the range of 3395 nm (conventional twin-screw extrusion) down to 638 nm (high-shear mixer of 3000 rpm) by altering the mixing speed and time. The resulting LPCL/ABS composites clearly showed non-Einstein viscosity phenomena, exhibiting reduced viscosity (2130 Pa·s) compared to …