Bodyware - Materials

From nano actuation to macro actuator

Carbon Nanotube actuators - The main issue in developing devices based on nano scale actuation mechanism is the transfer of stress induced at the level of the single Carbon Nanotube (CNT) to the macroscopic domain. A possible approach to this issue is to. The transfer of stress induced at the level of the single CNT to the macroscopic domain can be achieved by a novel approach to the problem. Instead of simply using van der Waals interaction between CNTs or merely incorporating in a polymeric matrix, the idea is to link CNTs via chemical bonds in order to create a copolymer with single nanotubes as repeating unit. To this end one possible route is to create two different kinds of CNTs, one functionalized with carboxylic group and the other amino substitutes; these moieties can react without any addition of catalyst as in the synthesis of polyamides (i.e. Nylon 6,6). An easiest route to link CNTs via chemical bond is to use a linker molecule, i.e. an aromatic diamine, that could react with acyl chloride (-COCl) modified CNTs as shown below.

Within the framework of the transition from the so called “hard-bodied” robot to the “soft-bodied” robot, new materials should be used to better approach a human behaviour. This activity focuses on the design and the mechanical testing of novel composite materials for the assembling of a brand new hand for I-Cub, which is consider as a first basic step towards the mentioned transition. The hand is a crucial component for the I-Cub robot, functional to the implementation of learning and interaction mechanisms that are one of the main purposes of the platform. It is in the hand that the number of mobile parts and sensing and actuating devices reach the higher density and, hence, potential failure. The new design will include not only the essential skeletal and mobility components, but seamlessly includes actuation, sensing and signaling components