DESENVOLVIMENTO DE ATUADORES TRIDIMENSIONAIS BASEADOS EM MÚSCULOS ARTIFICIAIS DIELÉTRICOS DE UMA OU MÚLTIPLAS CAMADAS / DEVELOPMENT OF THREE-DIMENSIONAL ACTUATORS BASED ON DIELECTRIC ARTIFICIAL MUSCLES OF ONE OR MULTIPLE LAYERS

AUTOR(ES)
DATA DE PUBLICAÇÃO

2009

RESUMO

Artificial muscles are versatile for the actuator projects, because, as well as the natural muscles, they can have small dimensions or they are grouped to obtain big dimensions. Muscle capacity to allow construction of actuators without movable parts allows great economy of energy, avoiding attritions for sliding, lessening waste, and reducing noise.Artificial muscles are used to develop continuous or binary actuators, using different types of configurations to take advantage to the benefit that offer these materials. Eletrostrictive artificial muscles, worked by high tensions, are already being used in commercial applications. Electronic circuits are being projected to work with high electric tensions and to interact with these types of muscles. Many types of materials are being evaluated for the implementation of these muscles.This work looks for to develop a cylindrical configuration actuator of electric activation, for capacitive effect. The actuator is activated by 3 artificial muscles in parallel configuration, built starting from the acrylic elastomer VHB4905, which possesses viscouselastic characteristics and low production cost. Different models of the muscles are analyzed, based on springs and shock absorbers in series and parallel.Calibrate methods are developed to calculate parameters of the mathematical models of the muscles starting from data obtained at laboratory. Measurement method based on processing of images and theory of stereo vision, specifically developed for this work, allows no-invasive measurement of the actuator¿s extremity, without interfering in actuator¿s movement, and without the need to put sensor or measurement instruments. The results show that mathematical models are efficient to describe the behavior of the actuator.

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