Towards the Use of Dielectric Elastomer Actuators as Locomotive Devices for Millimeter-Scale Robots

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dc.contributor.advisorSmela, Elisabethen_US
dc.contributor.authorPearse, Justin Daminaboen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2012-07-07T05:50:45Z
dc.date.available2012-07-07T05:50:45Z
dc.date.issued2012en_US
dc.description.abstractDielectric elastomer actuators (DEAs) are electromechanical transducers that are promising for small scale applications. The work presented in this thesis seeks to develop DEAs as an actuation technology that would serve the purpose of ambulating millimeter-scale robots in a robust and predictable manner. To begin, the "planar" DEA configuration was characterized and the performances of various elastomers were investigated. Then, based on the requirements of a proposed robot walking gait, two principles were examined as means of converting in-plane actuation strain to bending actuation. Bending DEAs were fabricated and tested, and a maximum end displacement of 1.5 mm was achieved for a 10 mm long sample. Bending actuator design was optimized by maximizing both speed and payload capabilities. Finally, some challenges facing the design of robots ambulated by DEAs were outlined; of particular note is the DEAs' electrostatic interaction with each other and their surroundings.en_US
dc.identifier.urihttp://hdl.handle.net/1903/12657
dc.subject.pqcontrolledMechanical engineeringen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pqcontrolledMaterials Scienceen_US
dc.subject.pquncontrolledActuatoren_US
dc.subject.pquncontrolledBendingen_US
dc.subject.pquncontrolledDEAen_US
dc.subject.pquncontrolledPolymeren_US
dc.subject.pquncontrolledRoboten_US
dc.subject.pquncontrolledScaleen_US
dc.titleTowards the Use of Dielectric Elastomer Actuators as Locomotive Devices for Millimeter-Scale Robotsen_US
dc.typeThesisen_US

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