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Author
Martínez Rodríguez, Adrián
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Abstract
In this project, the most optimal and simplified way of being able to manufacture a Peano Hasel type actuator is investigated, so that it is functional and reproducible. However, it wants to be characterized with a mathematical model that will later be compared with experimental data of displacement and load.
Sunflower oil, dielectric liquid and prefabricated polypropylene bags were used for its manufacture as a hydraulic container. The sealing closures of this hydraulic container were manufactured using 3D printing. This, together with the graphite paint electrode, enables a relatively simple assembly of these actuators, facilitating their reproducibility. In parallel, a mathematical model was developed as it had a theoretical design basis. Subsequently, several tests (loads, repetition and repetition with grounding) were carried out in order to verify the validity of this model. The conclusions were satisfactory given that the actuators created follow the laws dictated by the mathematical model, however, it presents performance problems. The results suggest that these efficiency difficulties should be considered in future theoretical models.
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