Theses and Dissertations
This collection includes both ASU Theses and Dissertations, submitted by graduate students, and the Barrett, Honors College theses submitted by undergraduate students.
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- All Subjects: Elastomers
Description
Wearable assistive devices have been greatly improved thanks to advancements made in soft robotics, even creation soft extra arms for paralyzed patients. Grasping remains an active area of research of soft extra limbs. Soft robotics allow the creation of grippers that due to their inherit compliance making them lightweight, safer for human interactions, more robust in unknown environments and simpler to control than their rigid counterparts. A current problem in soft robotics is the lack of seamless integration of soft grippers into wearable devices, which is in part due to the use of elastomeric materials used for the creation of most of these grippers. This work introduces fabric-reinforced textile actuators (FRTA). The selection of materials, design logic of the fabric reinforcement layer and fabrication method are discussed. The relationship between the fabric reinforcement characteristics and the actuator deformation is studied and experimentally verified. The FRTA are made of a combination of a hyper-elastic fabric material with a stiffer fabric reinforcement on top. In this thesis, the design, fabrication, and evaluation of FRTAs are explored. It is shown that by varying the geometry of the reinforcement layer, a variety of motion can be achieve such as axial extension, radial expansion, bending, and twisting along its central axis. Multi-segmented actuators can be created by tailoring different sections of fabric-reinforcements together in order to generate a combination of motions to perform specific tasks. The applicability of this actuators for soft grippers is demonstrated by designing and providing preliminary evaluation of an anthropomorphic soft robotic hand capable of grasping daily living objects of various size and shapes.
ContributorsLopez Arellano, Francisco Javier (Author) / Santello, Marco (Thesis advisor) / Zhang, Wenlong (Thesis advisor) / Buneo, Christopher (Committee member) / Arizona State University (Publisher)
Created2019
Description
An evolving understanding of elastomeric polymer nanocomposites continues to expand commercial, defense, and industrial products and applications. This work explores the thermomechanical properties of elastomeric nanocomposites prepared from bisphenol A diglycidyl ether (BADGE) and three amine-terminated poly(propylene oxides) (Jeffamines). The Jeffamines investigated include difunctional crosslinkers with molecular weights of 2,000 and 4,000 g/mol and a trifunctional crosslinker with a molecular weight of 3,000 g/mol. Additionally, carbon nanotubes (CNTs) were added, up to 1.25 wt%, to each thermoset. The findings indicate that the Tg and storage modulus of the polymer nanocomposites can be controlled independently within narrow concentration windows, and that effects observed following CNT incorporation are dependent on the crosslinker molecular weight.
Polymer matrix composites (PMCs) offer design solutions to produce smart sensing, conductive, or high performance composites for a number of critical applications. Nanoparticle additives, in particular, carbon nanotubes and metallic quantum dots, have been investigated for their ability to improve the conductivity, thermal stability, and mechanical strength of traditional composites. Herein we report the use of quantum dots (QDs) and fluorescently labeled carbon nanotubes (CNTs) to modify the thermomechanical properties of PMCs. Additionally, we find that pronounced changes in fluorescence emerge following plastic deformation, indicating that in these polymeric materials the transduction of mechanical force into the fluorescence occurs in response to mechanical activation.
Segmented ionenes are a class of thermoplastic elastomers that contain a permanent charged group within the polymer backbone and a spacer segment with a low glass transition temperature (Tg) to provide flexibility. Ionenes are of interest because of their synthetic versatility, unique morphologies, and ionic nature. Using phase changing ionene-based nanocomposites could be extended to create reversible mechanically, electrically, optically, and/or thermally responsive materials depending on constituent nanoparticles and polymers. This talk will discuss recent efforts to utilize the synthetic versatility of ionenes (e.g., spacer composition of PTMO or PEG) to prepare percolated ionic domains in microphase separated polymers that display a range of thermomechanical properties. Furthermore, by synthesizing two series of ionene copolymers with either PEG or PTMO spacers at various ratios with 1,12-dibromododecane will yield a range of ion contents (hard contents) and will impact nanoparticle dispersion.
Polymer matrix composites (PMCs) offer design solutions to produce smart sensing, conductive, or high performance composites for a number of critical applications. Nanoparticle additives, in particular, carbon nanotubes and metallic quantum dots, have been investigated for their ability to improve the conductivity, thermal stability, and mechanical strength of traditional composites. Herein we report the use of quantum dots (QDs) and fluorescently labeled carbon nanotubes (CNTs) to modify the thermomechanical properties of PMCs. Additionally, we find that pronounced changes in fluorescence emerge following plastic deformation, indicating that in these polymeric materials the transduction of mechanical force into the fluorescence occurs in response to mechanical activation.
Segmented ionenes are a class of thermoplastic elastomers that contain a permanent charged group within the polymer backbone and a spacer segment with a low glass transition temperature (Tg) to provide flexibility. Ionenes are of interest because of their synthetic versatility, unique morphologies, and ionic nature. Using phase changing ionene-based nanocomposites could be extended to create reversible mechanically, electrically, optically, and/or thermally responsive materials depending on constituent nanoparticles and polymers. This talk will discuss recent efforts to utilize the synthetic versatility of ionenes (e.g., spacer composition of PTMO or PEG) to prepare percolated ionic domains in microphase separated polymers that display a range of thermomechanical properties. Furthermore, by synthesizing two series of ionene copolymers with either PEG or PTMO spacers at various ratios with 1,12-dibromododecane will yield a range of ion contents (hard contents) and will impact nanoparticle dispersion.
ContributorsWang, Meng, Ph.D (Author) / Green, Matthew D (Thesis advisor) / Green, Alexander (Committee member) / Yarger, Jeffery (Committee member) / Arizona State University (Publisher)
Created2019