Session C8
Paper #6219
Disclaimer — This paper partially fulfills a writing requirement for first year (freshman) engineering students at the University of Pittsburgh Swanson School of Engineering. This paper is a student, not a professional , paper. This paper is based on publicly available information and may not be provide complete analyses of all relevant data. If this paper is used for any purpose other than these authors’ partial fulfillment of a writing requirement for first year (freshman) engineering students at the University of Pittsburgh Swanson School of Engineering, the user does so at his or her own risk.
Revised Proposal
This paper covers dielectric elastomers for use as biomimetic actuators in robotics studied heavily. Roll actuators are currently the most efficient actuators with respect to ease of production, applications. A biomimetic actuator is one which and function. One of the issues of DE actuators is that mimics biological modes of movement. Dielectric they have very small deformations when compared to elastomer (DE) actuators are elastomeric films coated that of muscle tissues. Additionally, they can with compliant electrodes. With the application of an experience failure at larger voltages, at any small imperfection in the elastomer. Thermal failure due to electric field across the electrodes, the elastomer becomes polarized. “Charges of opposite signs on the two electrodes attract each other, so that the membrane reduces its thickness and expands its area”
[1]. The dielectric elastomer actuator transforms voltage in DE actuators occurs when a thin section of the actuator allows arcing, which can melt the elastomer, and cause the actuator to fail [3]. Our research will expand into specific types of dielectric electrical energy directly into mechanical work. DE elastomer materials, and their properties, the current actuators can be set up in the agonist-antagonist setup applications of DE actuators, and possible future found within muscle pairings. Biomimetic actuators applications. Continued research will be carried out are important because they can make for more by consulting previous studies on DE actuators and prosthetics with more natural motion, and can allow academic journals published on the topic. Biomimetic us to create soft robots. DE actuators mimic many of actuators such as DEs could very well allow for more precise, quieter, cheaper, and more flexible robots. the positive properties of muscle tissue such as:
“actuation strain and speed, low density, compliant nature, and silent operation” [2]. One of DE actuators’ advantages over traditional robotic actuators, like electrical motors, is in their degrees of
[1] Z. Suo, et. al. (2012). “Giant voltage-induced deformation in dielectric elastomers near the verge of freedom. Traditional robotic actuators get snap-through instability.” Journal of the Mechanics exceedingly complex with increasing degrees of and Physics of Solids . (online journal article). freedom in motion. DE actuators stay relatively simple http://www.seas.harvard.edu/suo/papers/271.pdf
with greater degrees of freedom due to their extreme [2] I.A. Anderson, et. al. (2012). “Multi-functional flexibility. In addition, DE actuation provides changes dielectric elastomer artificial muscles for soft and in capacitance, which could be used to provide a smart machines.” Journal of Applied Physics.
(online machine with positional and strain feedback [2]. This journal article). feedback is a key component in biomimetic http://scitation.aip.org/content/aip/journal/jap/112/4/1 applications such as tactile information, balance, and 0.1063/1.4740023
overcoming obstructions. DE actuators are also extremely cost effective, as the acrylic and silicone materials used in DEs are simple, and inexpensive to
[3] Z. Suo. (2010, November 30). “THEORY OF
DIELECTRIC ELASTOMERS.” AMSS Press.
(online essay). produce. Currently, robots tend not to do well in http://www.seas.harvard.edu/suo/papers/243.pdf
mobility, and breadth of use, they are highly specialized and useful only under specific circumstances. Development of biomimetic robots could open the doors to widespread robotic
application. Biomimetic robotics could be used in developing machines that can perform intricate tasks on par with their human counterparts. In situations that would be unfit for a person such as disaster relief,
I.A. Anderson, et. al. (2012). “Multi-functional dielectric elastomer artificial muscles for soft and smart machines.” Journal of Applied Physics.
(online journal article). repair work in harmful environments, or in warfare.
There is more research to be done into the effectiveness of various elastomers, as their properties vary. Elastomer actuator configurations are being http://scitation.aip.org/content/aip/journal/jap/112/4/1
0.1063/1.4740023
This article is a professionally written report, published in the Journal of Applied Physics, which describes the multi-degree freedom, mechano-
University of Pittsburgh, Swanson School of Engineering
1/29/16
1

Thomas Whittington
Aaron Guche sensitivity, variable stiffness, and integrated charge control that enable DE actuators as artificial muscles for soft and smart machines. This piece also covers electrical breakdown of the actuator through short circuiting and heat damage. We will use it to demonstrate both the benefits and hazards of actuators in muscle applications.
E. Booker. (2015, September 9). “Ethics of Artificial
Intelligence.” Alumni Publications. (online article). http://gtalumnimag.com/2015/09/the-ethics-ofartificial-intelligence/
This piece is published by Georgia Tech alumni who question the ethical extent of artificial intelligence, specifically in human applications such as artificial muscle. They cite information from IEEE members and Georgia Tech professors on implementing actuators for robotic applications in military weapons as well as psychological impacts of
“intimate robots.” This information will be used to convey the ethical dilemmas possible with future applications of successful DE actuators.
J.D. Nam, et. al. (2007). “Dielectric Elastomers for
Artificial Muscles.” Springer.
(online essay). http://www.springer.com/cda/content/document/cda_ downloaddocument/9781846283710c1.pdf?SGWID=0-0-45-357404-p138795136 .
This is an online technical report from the book,
Electroactive Polymers for Robotics Applications. It contains tables and graphs of dielectric constants, ultimate strain percentages, break stresses, crosslink densities, and elasticities of various elastomer materials. Equations demonstrating the relationships of these variables for applications as artificial muscles are also contained. We will extract this pertinent numerical data as a basis for our support of DE actuators as artificial muscles.
Z. Suo. (2010, November 30). “THEORY OF
DIELECTRIC ELASTOMERS.” AMSS Press.
(online essay). http://www.seas.harvard.edu/suo/papers/243.pdf
This online report, conducted by the school of engineering at the University of Harvard, delves into the thermodynamics of transducers and homogenous electric fields produced in DE elastomers. It accentuates the desirable stress-strain behavior for large voltage induced deformation, and informs the reader of how electrical breakdown and electromechanical instability may occur. This information will be utilized for the properties of ideal
DE elastomers and their thermodynamic stability.
Z. Suo, et. al. (2012). “Giant voltage-induced deformation in dielectric elastomers near the verge of
2 snap-through instability.” Journal of the Mechanics and Physics of Solids . (online journal article). http://www.seas.harvard.edu/suo/papers/271.pdf
This online report, conducted by the school of engineering at the University of Harvard, delves into the electromechanical instability required to achieve giant voltage-induced deformation. It highlights the aspects of dielectric elastomers which contribute to their large deformation, and lends support to their use in biomimetic applications.
Michael Wissler, et. al. (2007, March 15).
“Mechanical behavior of an acrylic elastomer used in dielectric elastomer actuators.” Elsevier.
(online journal article). http://www.sciencedirect.com/science/article/pii/S09
24424706003803
This is an online report extracted from the book,
Senors and Actuators A: Physical. The report contains experimental data for the acrylic elastomer, VHB4910, used specifically in circular actuators. The experiments describe the strain values for the elastomer at various voltages in three separate models, and the practicality as a commercial product is discussed. This information will be used to present applications of acrylic elastomers in commercial applications as muscles.
W.Yuan et. al. (2009). “Long lifetime dielectric elastomer actuators under continuous high strain actuation.” Electroactive Polymer Actuators and
Devices Conference . (Conference paper).
DOI: 10.1117/12.816076
This is a paper which was presented at the conference on electroactive polymer actuators and devices in San Diego, CA, on March 9 th of 2009. It contains research data on methods which would minimize the effects of dielectric breakdown, which has prevented DE actuator use in commercial applications.
“Choosing Your Topic Video Tutorial.”
University of Pittsburgh Library Guide. (2015).
(video). http://www.library.pitt.edu/other/files/il/fresheng/ind ex.html
This video, created by the University of Pittsburgh library staff, exemplifies how to correctly search through an academic database for a paper topic. The video presents how to narrow the scope of your search to find a specific, detailed issue that an academic paper can be crafted around. This video helped us search for the correct keywords to find credible sources for us to support our paper with