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Rotary actuators based on pneumatically-driven elastomeric structures

Descriptive

TitleInfo
Title
Rotary actuators based on pneumatically-driven elastomeric structures
Name (type = personal)
NamePart (type = family)
Gong
NamePart (type = given)
Xiangyu
NamePart (type = date)
1990-
DisplayForm
Xiangyu Gong
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Mazzeo
NamePart (type = given)
Aaron D.
DisplayForm
Aaron D. Mazzeo
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
chair
Name (type = personal)
NamePart (type = family)
Zou
NamePart (type = given)
Qingze
DisplayForm
Qingze Zou
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Lee
NamePart (type = given)
Howon
DisplayForm
Howon Lee
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
Graduate School - New Brunswick
Role
RoleTerm (authority = RULIB)
school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (encoding = w3cdtf); (qualifier = exact)
2015
DateOther (qualifier = exact); (type = degree)
2015-10
CopyrightDate (encoding = w3cdtf); (qualifier = exact)
2015
Place
PlaceTerm (type = code)
xx
Language
LanguageTerm (authority = ISO639-2b); (type = code)
eng
Abstract (type = abstract)
This 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.
Subject (authority = RUETD)
Topic
Mechanical and Aerospace Engineering
RelatedItem (type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier (type = RULIB)
ETD
Identifier
ETD_6837
PhysicalDescription
Form (authority = gmd)
electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
1 online resource (v, 53 p. : ill.)
Note (type = degree)
M.S.
Note (type = bibliography)
Includes bibliographical references
Subject (authority = ETD-LCSH)
Topic
Robots
Subject (authority = ETD-LCSH)
Topic
Actuators
Note (type = statement of responsibility)
by Xiangyu Gong
RelatedItem (type = host)
TitleInfo
Title
Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier (type = local)
rucore19991600001
Location
PhysicalLocation (authority = marcorg); (displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier (type = doi)
doi:10.7282/T3DB83T9
Genre (authority = ExL-Esploro)
ETD graduate
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Rights

RightsDeclaration (ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
Gong
GivenName
Xiangyu
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2015-09-30 12:55:13
AssociatedEntity
Name
Xiangyu Gong
Role
Copyright holder
Affiliation
Rutgers University. Graduate School - New Brunswick
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
RightsEvent
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2015-10-31
DateTime (encoding = w3cdtf); (qualifier = exact); (point = end)
2016-05-01
Type
Embargo
Detail
Access to this PDF has been restricted at the author's request. It will be publicly available after May 1st, 2016.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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Technical

RULTechMD (ID = TECHNICAL1)
ContentModel
ETD
OperatingSystem (VERSION = 5.1)
windows xp
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