Faculty Advisor

Onal, Cagdas Denizel

Faculty Advisor

Rahbar, Nima

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2018

Major

Mechanical Engineering

Major

Robotics Engineering

Major

Civil Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Mechanical Engineering

Advisor Department

Civil and Environmental Engineering

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