Show simple item record

dc.contributor.advisorSteven Dubowsky.en_US
dc.contributor.authorPlante, Jean-Sébastien, Ph. D. Massachusetts Institute of Technologyen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2007-01-10T15:37:52Z
dc.date.available2007-01-10T15:37:52Z
dc.date.issued2006en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/35305
dc.descriptionThesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.en_US
dc.descriptionThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.en_US
dc.description"February 2006."en_US
dc.descriptionIncludes bibliographical references (p. 145-153).en_US
dc.description.abstractFuture robotics and mechatronics applications will require systems that are simple, robust, lightweight and inexpensive. A suggested solution for future systems is binary actuation. Binary actuation is the mechanical analogy to digital electronics, where actuators "flip" between two discrete states. Systems can be simple since low-level feedback control, sensors, wiring and electronics are virtually eliminated. However, conventional actuators, such as DC motors and gearbox are not appropriate for binary robotics because they are complex, heavy, and expensive. This thesis proposes a new actuation technology for binary robotics and mechatronics based on dielectric elastomer (DE) technology. DE actuators are a novel class of polymer actuators that have shown promising low-cost performance. These actuators were not well understood and, as a result, faced major reliability problems. Fundamental studies conducted in this thesis reveal that reliable, high performance DE actuation based on highly viscoelastic polymers can be obtained at high deformation rates, when used under fast, intermittent motion.en_US
dc.description.abstract(cont.) Also, analytical models revealed that viscoelasticity and current leakage through the film govern performance. These results are verified by an in-depth experimental characterizion of DE actuation. A new DE actuator concept using multi-layered diamond-shaped films is proposed. Essential design tools such as reliability/performance trade-offs maps, scaling laws, and design optimization metrics are proposed. A unit binary module is created by combining DE actuators with bistable structures to provide intermittent motion in applications requiring long-duration stateholding. An application example of binary robots for medical interventions inside Magnetic Resonance Imaging (MRI) systems illustrates the technology's potential.en_US
dc.description.statementofresponsibilityby Jean-Sébastien Plante.en_US
dc.format.extent186 p.en_US
dc.format.extent7102066 bytes
dc.format.extent7158412 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/pdf
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582
dc.subjectMechanical Engineering.en_US
dc.titleDielectric elastomer actuators for binary robotics and mechatronicsen_US
dc.typeThesisen_US
dc.description.degreePh.D.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc75969512en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record