Fortifying performance of soft actuator using hetero-space charge characteristics of PVC-gel & dielectric liquid = PVC-gel의 이형 공간 전하 특성과 유전 유체를 이용한 고출력 유연 구동기 설계

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A novel soft actuator design is presented in this paper. The actuator termed ‘EPIC’ utilizes the amplified electrostatic force when the surface charge inducing phenomenon of PVC-gel and the special geometry of the actuator are combined. Based on the principle, this novel actuator can exert large force at low operating voltage compared to the actuator utilizing only electrostatic force between electrodes. This suggests a new possibility to solve the high input driving voltage and limited output force issues of the dielectric electro-active polymer actuator (EAP). Also, the theoretical modeling of this actuator suggests new design criteria (dielectric constant ratio) for designing similar kinds of hydraulic actuators based on electrostatic force. Consequently, the designed prototype of the actuator could exert force larger than 4N and maximum displacement of 2mm despite their small size and weight(60mm width, 8.5 height and 25.5g weight including frame), without additional design optimization. Also, a focal length tunable lens was implemented as an application. The fabricated EPIC tunable lens has circular visible area, as large as 30mm diameter, and 178mm focal length change based on the high output force of the actuator.
Advisors
Kyung, Ki-Ukresearcher경기욱researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2020
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2020.8,[v, 66 p. :]

Keywords

Soft robotics; Soft actuator design; HASEL; PVC-gel; Modeling; 소프트 로보틱스; 소프트 엑추에이터 디자인; 모델링

URI
http://hdl.handle.net/10203/285222
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=947959&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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