Mr. Revanth Konda Profile

Revanth Konda

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Proceedings Article | 28 April 2023 Presentation + Paper

A bio-inspired multi-directional HASEL actuator-driven soft robotic tail: design and characterization

Revanth Konda, Erik Hartman, Jun Zhang

Proceedings Volume 12482, 124820M (2023) https://doi.org/10.1117/12.2656884

KEYWORDS: Robotics, Actuators, Design and modelling, Robots, Dielectrics, Biomimetics

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As a recently invented soft actuator, hydraulically amplified self-healing electrostatic (HASEL) actuators have exhibited strong potential for employment in soft and biomimetic robots. HASEL actuators rely on the principle of hydraulics and electrostatic forces to generate motion. Many existing HASEL actuator-driven robots only exhibit one degree-of-freedom (DoF) motion. The few existing designs that generate multi-DoF motion are often bulky and use multiple stacks of HASEL pouches. In this paper, a bio-inspired robotic tail powered by HASEL actuators is presented. The tail is a popular structure considered for bioinspiration, due to its ability to exhibit fluidic multi-DOF motion while being compliant. While HASEL actuators-driven tails have been developed in the past, very few of them exhibit multi-DOF complex motion, which is a critical aspect of a tail. The proposed robotic tail utilized compact multi-directional HASEL actuators that used two inputs to achieve motion in three-dimensional space. The transient and steady state voltage–deflection angle correlations of the rightward, leftward, and upward curls of the robotic tail under different loading conditions were experimentally characterized. Furthermore, a lifecycle test was conducted at multiple inputs. Satisfactory performance was obtained. For example, the robotic tail could generate 169.8◦ side-ward deflection and 262.7◦ upward deflection when no loads were applied.

Proceedings Article | 27 April 2023 Presentation + Paper

Experimental investigation of the non-smooth actuation in twisted and coiled string artificial muscles

Revanth Konda, Jun Zhang

Proceedings Volume 12481, 1248107 (2023) https://doi.org/10.1117/12.2657724

KEYWORDS: Artificial muscles, Actuators, Compliance, Materials properties, Robotics

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Twisted and coiled string (TCS) artificial muscles are recently discovered motor-driven compliant actuators that can consistently generate up to 70% strains. The TCS muscles’ actuation is realized in two sequential phases, namely, twisting and coiling. Actuation in the twisting phase results in smooth linear contraction along the TCS muscles’ length. This behavior is identical to that of the popular twisted string actuators. In the coiling phase, the TCS muscles are overtwisted to form coils that generate large and unique non-smooth contraction of strings. The coiling phase in actuation cycle is underexplored and exhibits unique characteristics: Firstly, at a constant motor speed, twisting of strings generates drastic contraction accompanying larger non-smooth actuation during coil formation as compared to the intermittence between adjacent coil formations. Secondly, evident hysteresis appears during the coiling-induced actuation, likely due to large friction between strings when coiled. Lastly, the muscles actuation transition between twisting to coiling is intricate and largely uninvestigated, especially when they operate under different loading conditions and different motor twisting inputs. In this study, a comprehensive experimental characterization of the coiling-based actuation of the TCS muscles is conducted. Firstly, the load dependence of the TCS muscles’ behavior is examined by applying input cycles under different loading conditions. Secondly, the non-smooth behavior is investigated by using sequences of input motor turns with different frequencies. Lastly, the hysteretic behavior and the properties of transitioning conditions are examined by applying different ranges of the input cycles under different loading conditions. The results serve as a basis for future studies on modeling and control of the TCS muscles’ coiling-based actuation.

Proceedings Article | 22 April 2020 Presentation + Paper

Experimental investigation of the lonely stroke behavior in supercoiled polymer artificial muscles

Revanth Konda, Jun Zhang

Proceedings Volume 11375, 113751I (2020) https://doi.org/10.1117/12.2558718

KEYWORDS: Actuators, Artificial muscles, Polymers, Robotics, Polymeric actuators, Robots

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Supercoiled polymer (SCP) actuators belong to a recently discovered class of artificial muscles that show strong promise in various robotic applications. Extensive studies have been conducted on various aspects of SCP actuators, including the characterization of their hysteresis nonlinearity and dynamical behaviors. However, the existing strategies cannot effectively capture the first cycle of SCP actuators, which, under the application of certain sequences of inputs, gives rise to a “lonely stroke”. For example, under the application of continuous voltage oscillation sequences, the first output cycle is different from the successive repeatable cycles. This lonely stroke behavior in SCP actuators needs to be better analyzed since no comprehensive experimental investigations have been conducted. Furthermore, the lonely stroke affects SCP actuator’s performances in repeatable cycles. In this study, we conduct experimental investigations on SCP actuator’s lonely stroke under different loading and temperature conditions. The experimental procedures and measurements are presented and discussed. The results show that the coupling between lonely stroke and hysteresis is complex and history-dependent. For example, the maximum output strain discrepancy due to the lonely stroke was found to be 3.5% for an SCP actuator with a maximum strain of 15%.

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