Flexible, Low-mass Robotic Arm Actuated by Electroactive Polymers and Operated Equivalently to Human Arm and Hand

Bar‐Cohen, Y.; Xue, T.; Shahinpoor, Mohsen; Simpson, Joycelyn O.; Smith, Joseph G.

doi:10.1061/40337(205)3

Cited by 33 publications

(21 citation statements)

References 4 publications

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“…Shahinpoor et al developed a peristaltic micro-pump and robot fish [10][11][12][13][14][15][16]. Bar-Cohen et al proposed the IPMC actuator as space-based applications [17][18][19][20]. However, to be able to use the IPMC actuator as a practical actuator in variety of applications, the IPMC actuator is required to produce more generative force that is one of the weakest points for the IPMC actuator.…”

Section: Introductionmentioning

confidence: 95%

Analysis of mechanical characteristics of the ionic polymer metal composite (IPMC) actuator using cast ion-exchange film

Kim

Ryu

et al. 2003

SPIE Proceedings

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IPMC (Ionic Polymer Metal Composite) is a promising candidate actuator for bio-related applications mainly due to its biocompatibility, soft properties and operation in wet condition. The widely used and commercialized ion-exchange polymer film has limitation in thicknesses, but more various film thicknesses are required for extensive applications. Especially for the enhanced force as an actuator, acquisition of thick film is essential. Various ion-exchange polymer films with thickness of 0.4-1.2 mm have been prepared by casting of liquid ion-exchange polymer. As well, IPMC actuators using cast ion-exchange polymer films have been fabricated and the basic mechanical characteristics such as stiffness, displacement and force were measured and analyzed. These results can be used for the optimized design of actuators for different applications.

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Section: Introductionmentioning

confidence: 95%

Analysis of mechanical characteristics of the ionic polymer metal composite (IPMC) actuator using cast ion-exchange film

Kim

Ryu

et al. 2003

SPIE Proceedings

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“…The second proposed space application is for a robotic grasper to collect samples 16,17 . This again is made from IPMC and consists of a four-finger grasp hand on the end of a single link robot.…”

Section: Current Applications Of Eaps In Space Roboticsmentioning

confidence: 99%

Electro-Active Polymers for Actuation and Sensing in Space Applications

Rossi

Carpi

Jeronimidis

et al. 2004

55th International Astronautical Congress of the International Astronautical Federation, the International Academy of Astronaut

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Electro Active Polymers (EAPs) respond to an applied electrical potential with displacement. This permits their use for electricallydriven actuation mechanisms and in reverse as strain sensors. EAPs are currently the most promising class of materials for 'artificial muscles', as they are light-weight with high compliance, have high active strains and/or stresses depending on the kind of material (sometimes in excess of natural muscles), fast response (electronic type EAPs only), good controllability and low cost. This paper focuses on the potential of EAPs to provide solutions to integrating actuation and sensing functions required by future space systems. Performance indicators are covered, covering force levels, density, stiffness, displacement, power, and dynamic response. Their limitations are discussed in the context of environmental aspects, such as temperature, pressure, radiation, gravity, and in relation to robustness (degradation, fatigue). Dielectric elastomers are concluded to be the most promising class of EAP for application in a wide variety of space actuation tasks, and some of the possible applications of EAPs in space are investigated. The paper concludes with a short case study on the use of a novel EAP device for a jumping mechanism in a Martian tumbleweed rover is presented as a novel example application.

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“…The emergence of active materials such as ElectroActive Polymers (EAPs) or Shape Memory Alloys(SMA) whose characteristics are similar to those of human muscles, have encouraged the development of the artificial muscle actuator and extended to robot hands actuated with it. Recently, several robot hands using the artificial muscle actuators have been developed [5], [6], [8], [7]. These actuators have advantages of lightweight without adding mechanical complexity.…”

Section: Introductionmentioning

confidence: 99%