Method to dimension HASEL actuators with antagonistic actuation

Details

Supervisors

Ronsse, Renaud

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique

Abstract

enHydraulically Amplified Self-healing ELectrostatic (HASEL) actuators are a new kind of artificial muscles developed over the past few years. Their mechanical properties as well as their compliance make them the perfect tool to be used in bio-mimecry application. This master thesis proposes a way to dimension those muscles for an antagonistic application. Grid Search (GS) and Competitive Multiple Objective Particle Swarm Optimization (CMOPSO) algorithms were used to find the most suited geometrical parameters respecting specifications of torque, range of motion and stiffness. The results found were then plot in a 3D space minimizing the mass and geometry of the actuators, analyzed and put in perspective with respect to what existing HASEL actuators are capable of.