The objective of this project, optically driven robots, or light-actuated robots, was to analyze the characteristics of carbon nanotubes (CNTs) to determine their ability to replace traditional actuators within robotic systems. Our team presents a refined and optimal CNT manufacturing process for developing CNT actuators. The CNT actuators underwent experimentation to analyze their mechanical characteristics such as displacement, stress, and strain. Using the CNT actuators, we designed a robotic inchworm utilizing a CNT actuator as the inchworm’s body, as well as two rigidly attached feet at 45-degrees from the CNT body. Control of the robotic inchworm is based upon an open-loop control system coupled with a MATLAB program that varies duration of light exposure directed at the CNT actuator. We report on the average displacement and velocity based upon the constructed control system for the robotic inchworm. With the current limitations of traditional robotic system hindering their ability to work in space and within medical devices such as MRIs, we believe our robotic system demonstrates the ability to help develop non-magnetic robotic systems for these various applications.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Lang, Kyle R.
• Persons, Brandon D.

Subject

• Energy
• Industry
• Innovation

Publisher

• Worcester Polytechnic Institute

Identifier

• 22156
• E-project-050521-101020

Keyword

• Open-Loop Control
• Light Actuation
• Nanotechnology
• Carbon Nanotubes
• Robotic Inchworm
• Optically Stimulated Electron Emission

Advisor

• Fichera, Loris
• Panchapakesan, Balaji

Year

• 2021

UN Sustainable Development Goals

• 7 - Affordable and Clean Energy
• 9 - Industry, Innovation and Infrastructure

Date created

• 2021-05-05

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Robotics Engineering

Rights statement

• In Copyright