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Enhancing performance of electrostatic rotational motors for the next generation of robotic actuators
This project aims to enhance an electrostatic actuator by improving its specific power and power density while optimizing its manufacturing process, through approaches such as mechanical redesign, materials innovation, or computational optimization.
Electrostatic actuators have the potential to be a far more efficient alternative to conventional motors based on the electromagnetic principle, as they can sustain torque output without consuming energy, while still being compliant and backdrivable. Based on an existing design for an electrostatic motor using artificial muscles, you will propose and implement solutions to improve its specific power (i.e. lighter) and power density (i.e. smaller), as well as streamline the manufacturing procedure. You can approach it from different perspectives such as mechanical (e.g. improve layout of the structure), materials (e.g. use a lighter / more robust material for the mechanism), or optimization-based (e.g. FEM simulations to optimize the structure).
**Requirements**:
- Willingness to prototype quickly and iterate through many versions
- Strong motivation, problem-solving skills, and ability to work independently
- Proficiency in CAD / simulation software to create and validate designs
**References**:
1. Ludois, Daniel C., Kevin J. Frankforter, Baoyun Ge, Aditya N. Ghule, Peter Killeen, and Ryan P. Knippel. 2022. “Macroscale Electrostatic Rotating Machines and Drives: A Review and Multiplicative Gain Performance Strategy.” IEEE Journal of Emerging and Selected Topics in Power Electronics 10 (1): 14–34.
Electrostatic actuators have the potential to be a far more efficient alternative to conventional motors based on the electromagnetic principle, as they can sustain torque output without consuming energy, while still being compliant and backdrivable. Based on an existing design for an electrostatic motor using artificial muscles, you will propose and implement solutions to improve its specific power (i.e. lighter) and power density (i.e. smaller), as well as streamline the manufacturing procedure. You can approach it from different perspectives such as mechanical (e.g. improve layout of the structure), materials (e.g. use a lighter / more robust material for the mechanism), or optimization-based (e.g. FEM simulations to optimize the structure).
**Requirements**:
- Willingness to prototype quickly and iterate through many versions
- Strong motivation, problem-solving skills, and ability to work independently
- Proficiency in CAD / simulation software to create and validate designs
**References**:
1. Ludois, Daniel C., Kevin J. Frankforter, Baoyun Ge, Aditya N. Ghule, Peter Killeen, and Ryan P. Knippel. 2022. “Macroscale Electrostatic Rotating Machines and Drives: A Review and Multiplicative Gain Performance Strategy.” IEEE Journal of Emerging and Selected Topics in Power Electronics 10 (1): 14–34.
**Work Packages**:
1. Review literature on electrostatic actuation and rotational mechanisms
2. Compare different approaches to improve the performance of the existing electrostatic motor
3. Strategically research & develop the improvements to the motor.
4. Implement a working prototype
5. Quantify how much each metric has improved over the original
**Work Packages**:
1. Review literature on electrostatic actuation and rotational mechanisms
2. Compare different approaches to improve the performance of the existing electrostatic motor
3. Strategically research & develop the improvements to the motor.
4. Implement a working prototype
5. Quantify how much each metric has improved over the original
To apply, please send Yasunori a short motivation statement for this project, with a copy of your CV, transcripts, and two reference contacts if you have worked on any past projects. Also feel free to contact me for any questions!
Yasunori Toshimitsu, PhD Candidate, ytoshimitsu@ethz.ch, Soft Robotics Lab, D-MAVT, ETH Zurich
Amirhossein Kazemipour, PhD Candidate, akazemi@ethz.ch, Soft Robotics Lab, D-MAVT, ETH Zurich
Prof. Robert Katzschmann, Assistant Professor of Robotics, rkk@ethz.ch, Soft Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zurich
To apply, please send Yasunori a short motivation statement for this project, with a copy of your CV, transcripts, and two reference contacts if you have worked on any past projects. Also feel free to contact me for any questions!
Prof. Robert Katzschmann, Assistant Professor of Robotics, rkk@ethz.ch, Soft Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zurich