Electroactive soft actuators: Modelling and control

Paoletta, Giovanni (2020) Electroactive soft actuators: Modelling and control. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270]
Documenti full-text disponibili:
[img] Documento PDF (Thesis)
Disponibile con Licenza: Salvo eventuali più ampie autorizzazioni dell'autore, la tesi può essere liberamente consultata e può essere effettuato il salvataggio e la stampa di una copia per fini strettamente personali di studio, di ricerca e di insegnamento, con espresso divieto di qualunque utilizzo direttamente o indirettamente commerciale. Ogni altro diritto sul materiale è riservato

Download (10MB)


The work done in this master thesis is part of the European project MAGNIFY (1) at the University of Groningen, the Netherlands."MAGNIFY aims to develop a new generation of artificial muscles for robotic systems. The artificial muscle will be realized by using artificial molecular machines, organized in polymer nanofibers and individually controlled by external stimuli''(2) This thesis focuses on a similar polymer that will be used in the project MAGNIFY. The work presents the analysis and utilization of an electroactive soft actuator, made of polyurethane-based nanofibers. A mat of aligned nanofibers of polyurethane and salt has been fabricated through an electrospinning process and, subsequently, has been rolled up to form a bundle of aligned nanofibers. Several electromechanical tests have been performed on the bundle, applying a certain voltage and evaluating the force and the displacement generated by the soft actuator. The sampled data of voltage, force, and displacement are then used to identify the nonlinear model of Voltage-Force and Voltage-Displacement link. The second part of this thesis aims to use the model estimated Voltage-Displacement to build a PID controller for position control. It has been shown a possible future application for the soft actuator as a robotic arm. To conclude, an energy analysis has been performed, to compare the energy consumption of the soft-actuator and of an electric linear motor, considering similar maximum output force. (1)This project has received funding from the European Union’s Horizon 2020 Research and Innovation Programme under Grant Agreement no. 801378. (2)https://www.magnifyproject.eu/project-overview

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Paoletta, Giovanni
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
Soft actuator,Nonlinear system identification,Artificial neural networks
Data di discussione della Tesi
11 Marzo 2020

Altri metadati

Statistica sui download

Gestione del documento: Visualizza il documento