Horvat, Diana-Patricia (2021) Electroactive self-healing soft robotic gripper. Master's Thesis / Essay, Chemical Engineering.
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Abstract
Soft robots are good candidates for replacing rigid metallic robots due to their flexible properties and ease to comply with different environments. A drawback that comes with their soft characteristics is their susceptibility to damage over repeated actuations. In this work, we developed a soft robotic actuator with self-healing capabilities. Unlike most of the studied soft robots actuated by pneumatic pressure, the robot developed in this work bends due to phase transition of the liquid contained inside. The pressure required to achieve bending actuation is generated by the electrically induced phase transition of ethanol at elevated temperatures. Carbon black is added together with ethanol to improve heat distribution and actuation time. The self-healing effect can be induced by the same electrical stimulus in the same temperature range necessary to achieve motion. Critical parameters such as the mass of liquid, carbon black and voltage were optimized in order to maximize actuation speed. The actuator can achieve bending in less than 1 minute at power inputs lower than 30 W.
| Item Type: | Thesis (Master's Thesis / Essay) |
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| Supervisor name: | Bose, R.K. and Picchioni, F. |
| Degree programme: | Chemical Engineering |
| Thesis type: | Master's Thesis / Essay |
| Language: | English |
| Date Deposited: | 17 Dec 2021 13:36 |
| Last Modified: | 17 Dec 2021 13:36 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/26381 |
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