2026-09-18T21:11:20Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/303492021-07-05T14:03:20Zcom_1721.1_7582com_1721.1_7581col_1721.1_131022
Ian W. Hunter.
Anquetil, Patrick A. T. (Patrick Armand T.), 1973-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2008-03-26T20:30:36Z
2008-03-26T20:30:36Z
2004
2005
http://hdl.handle.net/1721.1/30349
61134551
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2005.
Vita. Leaf 239 blank.
Includes bibliographical references.
The development of powerful and efficient artificial muscles that mimic Nature will profoundly affect engineering sciences including robotics and prosthetics, propulsion systems, and microelectromechanical systems (MEMS). Biological systems driven by muscle out-perform human-engineered systems in many key aspects. For example, muscle endows animals with a level of dexterity and speed that has yet to be emulated by even the most complex robotic system to date. Conducting polymers were chosen for research as actuators, based on a review of the relevant properties of all known actuators and active materials. Key features of conducting polymer actuators include low drive voltages (1 - 2 V) and high active strength (10 - 40 MPa) but moderate active strains (2 %). Active strains of 20 %, which human skeletal muscle is capable of, are desirable for applications in life-like robotics, artificial prostheses or medical devices. This thesis focuses on two approaches to create large contraction in conducting polymer actuators. The first strategy utilizes polypyrrole (PPy), a conducting polymer actuator material that contracts and expands based on a bulk ion swelling mechanism. Optimization of the polymer activation environment via room temperature ionic liquids enables PPy actuators to generate large contractions (16.3 % recoverable strain at 2.5 MPa, 21 % max) at slow speeds (0.4 %/s). In addition, cycle life can reach 10⁵ cycles without significant polymer degradation. This thesis presents an in-depth characterization of the behavior of polypyrrole actuators in room temperature 1-butyl-3-methyl imidazolium tetrafluoroborate liquid salt electrolyte.
(cont.) The characterization includes the assessment of passive and electroactive mechanical properties as well as electrical and morphological properties. Using Nature's actin-myosin molecular engine as a source of inspiration, the second approach uses molecular mechanisms to create motion. In this bottom-up approach molecules are rationally designed from the molecular level for specific actuation properties. Such active molecular building blocks include shape changing, load bearing, passively deformable or hinge-like molecular elements. Several novel materials based on contractile molecular design were synthesized and their active properties characterized.
by Patrick A.T. Anquetil.
Ph.D.
239 leaves
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Large contraction conducting polymer molecular actuators
Thesis
application/pdf
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