• Proceedings of the KIEE Conference
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• 2000.07c
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• pp.2227-2229
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• 2000

본 논문에서는 전도성 고분자 및 고체 전해질을 이용한 액추에이터 제작의 기초 자료로서 전도성 고분자의 합성 조건 및 고체 전해질의 종류에 따른 전도도의 변화를 측정하고 해석한다. 전도성 고분자 액추에이터의 동작 특성은 전도성 고분자 및 고체 전해질의 전기적 특성에 의해 많은 영향을 받으며 따라서 전기적 특성의 가장 중요한 요소인 전도도의 측정은 액추에이터 소자의 동작 특성을 해석하기 위해 중요한 의미를 지닌다.

• Composites Research
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• v.18 no.5
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• pp.34-39
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• 2005

The relationship between strain and applied potential was derived for composite actuators consisting of single-wall carbon nanotubes (SWNTs) and conductive polymers (CPs). During deriving the relationship, an electrochemical ionic approach is utilized to formulate the electromechanical actuation of the composite film actuator. This relationship can give us a direct understanding of the actuation of a nanoactuator. The results show that the well-aligned SWNTs composite actuator can give good actuation responses and high actuating forces available. The actuation is found to be affected by both SWNTs and CPs components and the actuation of SWNTs component has two kinds of influences on that of the CPs component: reinforcement at the positive voltage and abatement at the negative voltage. Optimizations of SWNTs-CPs composite actuator may be achieved by using well-aligned nanotubes as well as choosing suitable electrolyte and input voltage range.

• Structural Engineering and Mechanics
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• v.77 no.2
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• pp.167-177
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• 2021

Due to various benefits such as unlimited degrees of freedom, environment adaptability, and safety for humans, engineers have used soft materials with hyperelastic behavior in various industrial, medical, rescue, and other sectors. One of the applications of these materials in the fabrication of bending soft actuators (SA) is that they have eliminated many problems in the actuators such as production cost, mechanical complexity, and design algorithm. However, SA has complexities, such as predicting and monitoring behavior despite the many benefits. The first part of this paper deals with the prediction of SA behavior through mathematical models such as Ogden and Darijani, and its comparison with the results of experiments. At first, by examining different geometric models, the cubic structure was selected as the optimal structure in the investigated models. This geometrical structure at the same pressure showed the most significant bending in the simulation. The simulation results were then compared with experimental, and the final gripper model was designed and manufactured using a 3D printer with silicone rubber as for the polymer part. This geometrical structure is capable of bending up to a 90-degree angle at 70 kPa in less than 2 seconds. The second section is dedicated to monitoring the bending behavior created by the strain sensors with different sensitivity and stretchability. In the fabrication of the sensors, silicon is used as a soft material with hyperelastic behavior and carbon fiber as a conductive material in the soft material substrate. The SA designed in this paper is capable of deforming up to 1000 cycles without changing its characteristics and capable of moving objects weigh up to 1200 g. This SA has the capability of being used in soft robots and artificial hand making for high-speed objects harvesting.