Elastic actuation for legged locomotion

Cao, Chongjing; Conn, Andrew T.

doi:10.1117/12.2259776

Cited by 7 publications

(9 citation statements)

References 13 publications

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“…At the end of each half stroke, the kinetic energy of the mass is converted into the elastic potential energy in the membranes, which is then released in the next half cycle. This increases the efficiency of the DEA, see [17] for a detailed elastic energy recovery study on double cone DEAs. By comparing the maximum average power output of the DEAs of 4, 6 and 8 layers of silicone membranes with the 2-layer specimen within the actuation frequency from 1 to 100 Hz from Table II, the maximum average mechanical power scaled up as expected.…”

Section: B Experimentsmentioning

confidence: 99%

“…, where K is the stiffness of the spring and M is the mass. Double cone DEA has been shown to have an approximately constant stiffness despite the non-linear material properties [17], so in this work we assume that the DEA is a linear spring. By considering the mass of the spacer and any payload as M in the undamped oscillator (assuming the mass of the DEA membranes is negligible), we are able to predict the resonant frequency of the DEA-mass oscillator.…”

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confidence: 99%

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Flapping at resonance: Realization of an electroactive elastic thorax

Cao

Burgess

Conn

2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

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Section: B Experimentsmentioning

confidence: 99%

mentioning

confidence: 99%

Flapping at resonance: Realization of an electroactive elastic thorax

Cao

Burgess

Conn

2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

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“…Among all the DEA configurations, the conical configuration has been widely adopted in soft actuation applications for its capability of antagonistic actuation [16]; multi-degree-of-freedom (DoF) operation [17]; crawling locomotion [11]; and flapping robots [18]. A conical DEA consists of a piece of elastomer membrane bonded to a rigid circular ring with a disk in the centre.…”

Section: Introductionmentioning

confidence: 99%

Performance Optimization of a Conical Dielectric Elastomer Actuator

Cao

Conn

2018

Actuators

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Dielectric elastomer actuators (DEAs) are known as 'artificial muscles' due to their large actuation strain, high energy density and self-sensing capability. The conical configuration has been widely adopted in DEA applications such as bio-inspired locomotion and micropumps for its good compactness, ease for fabrication and large actuation stroke. However, the conical protrusion of the DEA membrane is characterized by inhomogeneous stresses, which complicate their design. In this work, we present an analytical model-based optimization for conical DEAs with the three biasing elements: (I) linear compression spring; (II) biasing mass; and (III) antagonistic double-cone DEA. The optimization is to find the maximum stroke and work output of a conical DEA by tuning its geometry (inner disk to outer frame radius ratio a/b) and pre-stretch ratio. The results show that (a) for all three cases, stroke and work output are maximum for a pre-stretch ratio of 1 × 1 for the Parker silicone elastomer, which suggests the stretch caused by out-of-plane deformation is sufficient for this specific elastomer. (b) Stroke maximization is obtained for a lower a/b ratio while a larger a/b ratio is required to maximize work output, but the optimal a/b ratio is less than 0.3 in all three cases. (c) The double-cone configuration has the largest stroke while single cone with a biasing mass has the highest work output.

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“…When the mass approaches the end of a half stroke, its kinetic energy is converted into the elastic potential energy in the membranes, which is then released in the next half cycle. Apart from increasing the mechanical power output of the DEA, elastic energy recovery can also increase the efficiency, a detailed elastic energy recovery study on double cone DEAs can be found in Cao and Conn ( 2017 ).…”

Section: Power Output Of the Double Cone Deamentioning

confidence: 99%

Toward a Dielectric Elastomer Resonator Driven Flapping Wing Micro Air Vehicle

2019

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In the last two decades, insect-inspired flapping wing micro air vehicles (MAVs) have attracted great attention for their potential for highly agile flight. Insects flap their wings at the resonant frequencies of their flapping mechanisms. Resonant actuation is highly advantageous as it amplifies the flapping amplitude and reduces the inertial power demand. Emerging soft actuators, such as dielectric elastomer actuators (DEAs) have large actuation strains and thanks to their inherent elasticity, DEAs have been shown a promising candidate for resonant actuation. In this work a double cone DEA configuration is presented, a mathematic model is developed to characterize its quasi-static and dynamic performance. We compare the high frequency performance of two most common dielectric elastomers: silicone elastomer and polyacrylate tape VHB. The mechanical power output of the DEA is experimentally analyzed as a DEA-mass oscillator. Then a flapping wing mechanism actuated by this elastic actuator is demonstrated, this design is able to provide a peak flapping amplitude of 63 • at the frequency of 18 Hz.

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Elastic actuation for legged locomotion

Cited by 7 publications

References 13 publications

Flapping at resonance: Realization of an electroactive elastic thorax

Flapping at resonance: Realization of an electroactive elastic thorax

Performance Optimization of a Conical Dielectric Elastomer Actuator

Toward a Dielectric Elastomer Resonator Driven Flapping Wing Micro Air Vehicle

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