started 23Jan2013
Next report with Honda is fixed for 4 March 10:00.
17th February visit from Orita - intermediate visit to prepare.
Agenda:
FEM Modeling
Versions of COMSOL now available at both Stanford and Honda. Still some question about how well the FEM addresses variations due to Maxwell stress and deformation subsequent to the main prestress.
Could try a new model in which the large prestrain has already been applied, so we start in state of initial stress with a thin film. Then apply Maxwell stress and deformations. Actually, we could start with a linear model (e.g. SolidWorks) and see what happens with small deformations.
Thickness measurement
Could try the idea suggested by Prof. Tsuchiya. It might be OK, despite that the film is sticky, to put one side against a very flat plate and then measure from the other side using laser micrometer.
Testing muscle lever and ATI force sensor
Testing 1-10 Hz. Agreement in force is very good. Displacement on the order of +/-10mm.
5-Layer device
Initial version had some problems. Will revise and make a second version this week. We have some 0 kv data for stiffness. Saw some sparks...
Reinforcement ideas
Latex (water thinned) - can brush on and let dry. Can thin as desired with water.
Very thin silicone rubber sheet can be laser cut into thin rings placed at I.D. and O.D. How can you handle this?
Very thinned silicone caulking or paint could be applied same as latex
Demonstration kit.
EAP Haptics? Feel stiffness change at reporting date. Haptics is nice because can feel it. Sanjay machine still available too, of course.
Make a demo for his arrival in Feb.