The goal of this project is to design, analyze, and fabricate a pneumatically powered, functionally-graded soft robotic actuator made of a polymer embedded with nanoparticles, and later attach three of them to a hand-sized gripper assembly for object distribution. This was accomplished through finite element analysis, polymer-nanoparticle mix tensile testing, and construction of a mechanical arm controlled by a wearable gesture controller. Results show that the functionally-graded actuator produces 1.6 times the lateral force output and twice the displacement than the 15wt% control actuator.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Liu, Jiacheng
• Rangel, Steven H
• Duran, Reynaldo David
• White, Adam B

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042418-214012

Advisor

• Onal, Cagdas
• Rahbar, Nima

Year

• 2018

Date created

• 2018-04-24

Resource type

• Major Qualifying Project

Major

• Civil Engineering
• Robotics Engineering
• Mechanical Engineering

Rights statement

• In Copyright