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Rotary actuators based on pneumatically-driven elastomeric structures
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Gong, Xiangyu. Rotary actuators based on pneumatically-driven elastomeric structures. Retrieved from https://doi.org/doi:10.7282/T3DB83T9

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TitleRotary actuators based on pneumatically-driven elastomeric structures
NameGong, Xiangyu (author); Mazzeo, Aaron D. (chair); Zou, Qingze (internal member); Lee, Howon (internal member); Rutgers University; Graduate School - New Brunswick
Date Created2015
Other Date2015-10 (degree)
SubjectMechanical and Aerospace Engineering, Robots, Actuators
Extent1 online resource (v, 53 p. : ill.)
DescriptionThis thesis describes a unique mechanism – a soft rotary actuator – based on peristaltic motion and large strain of inflatable elastomeric materials, which consists of an inflatable stator paired with a rotor. Timed inflation and deflation of the air-filled bladders in the stators enable controllable rotational speed of the rotor (~18 RPM). With two configurations (Type 1 and Type 2), this rotary actuator is capable of having either an internal rotor for winch- or join-like applications or an external rotor that can serve as a wheel. Fabrication of these actuators employs the use of 3D-printed molds and meso- scale soft lithography. Characterizations of these two types of actuators (speed, torque, and power), along with demonstrations, provide a baseline for potential applications in locomotion and transportation of payloads. A squishy, four-wheeled vehicle enabled by Type 2 actuators travels at a speed of 3.7 cm/s, negotiates irregular terrain, and endures mechanical impact from a drop 7 times its height. This class of rotary actuators extends the potential functionality of soft robotic systems by providing torque without requiring the bending or twisting of tubing that provides pneumatic power.
NoteM.S.
NoteIncludes bibliographical references
Noteby Xiangyu Gong
Genretheses, ETD graduate
Persistent URLhttps://doi.org/doi:10.7282/T3DB83T9
Languageeng
CollectionGraduate School - New Brunswick Electronic Theses and Dissertations
Organization NameRutgers, The State University of New Jersey
RightsThe author owns the copyright to this work.
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