Embedded TCP and SMA Actuators for Use in Flexible Structures of Bioinspired Robots and Humanoids

Almubarak, Yara

Embedded TCP and SMA Actuators for Use in Flexible Structures of Bioinspired Robots and Humanoids

dc.contributor.advisor	Tadesse, Yonas
dc.creator	Almubarak, Yara
dc.date.accessioned	2020-03-17T13:35:06Z
dc.date.available	2020-03-17T13:35:06Z
dc.date.created	2018-05
dc.date.issued	2018-05
dc.date.submitted	May 2018
dc.date.updated	2020-03-17T13:35:07Z
dc.description.abstract	Soft robots consist of elastomeric materials, compliant actuators, and sensors that enable them to be used for numerous applications due to their flexibility, lightweight, and many degrees of freedom. Many actuators such as pneumatic actuators and servomotors introduce many design constraints due to their size, weight, and cost. Moreover, vibration and noise are undesired attributes that preclude the use of the robot. Smart materials play a vital role in the field of soft robotics since they can be used as sensors and actuators. This thesis presents the design and characterization of three robotic structures that are actuated by twisted and coiled polymer (TCP) muscles and shape memory alloys (SMA). First, a soft silicone skin embedded with TCP muscles that shows two unique modes of actuation is presented. The two actuation modes (undulatory and bending) depend on the muscle placement, skin thickness, applied voltage, and actuation time. Second, a humanoid head actuated using fully embedded TCP muscles featuring basic facial expressions, head nodding and jaw movement is presented. Third, an underwater jellyfish-like robot actuated by SMA muscles is developed. Several studies for the bell segment actuation were conducted to determine the influence of power input, bell geometry, and number of spring steels embedded within the elastomer. Studying these different application domains experimentally plays an important role in gaining new knowledge on design, fabrication, and performance of smart materials and soft robots.
dc.format.mimetype	application/pdf
dc.identifier.uri	https://hdl.handle.net/10735.1/7401
dc.language.iso	en
dc.rights	©2018 Yara Abdulsattar Almubarak. All Rights Reserved.
dc.subject	Elastomers
dc.subject	Androids
dc.subject	Robotics
dc.subject	Silicones
dc.subject	Muscles
dc.subject	Nylon
dc.subject	Polymers
dc.subject	Shape memory alloys
dc.title	Embedded TCP and SMA Actuators for Use in Flexible Structures of Bioinspired Robots and Humanoids
dc.type	Thesis
dc.type.material	text
thesis.degree.department	Mechanical Engineering
thesis.degree.grantor	The University of Texas at Dallas
thesis.degree.level	Masters
thesis.degree.name	MS