CHEMICALLY STIMULATED PSEUDOMUSCULAR ACTUATION

Polelectrolyte gels are synthesized as a structural material for a chemically stimulated muscle-like actuator to be used in a robotic arm. This investigation is undertaken to determine the feasibility of producing a new power system with an excellent power/weight ratio. The static and dynamic mechanical properties of the polymer are studied, especially those affected by crosslinking, component ratio and environmental conditions. Control of the muscular, and circulatory responses under chemical stimulus is investigated and options considered. Comparisons of the relative abilities of natural and artificial muscle are made, with special reference to those properties having a bearing on the use of this type of actuator in robotic applications. © 1990.