Martian jumping rover equipped with electroactive polymer actuators: A preliminary study

Carpi, Federico; Tralli, A.; Rossi, Danilo De; Gaudenzi, Paolo

doi:10.1109/taes.2007.357156

Cited by 8 publications

(7 citation statements)

References 26 publications

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“…Indeed, it is easy to confirm that 0 max ≥ t from Eqs. (6), (8), and (13) when the system takes off from the ground. Then, the local maximum value max…”

Section: Preliminary Study For a Hopping Phenomenonmentioning

confidence: 99%

A Hopping Mechanism through the Use of Resonance (An Analytical Study and Proposal for an Effective Hopping Method)

Sugawara

Mizuguchi

Kobayashi

2010

JSDD

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In recent years, various kinds of robot systems have been developed, and various kinds of locomotion methods have been developed for them. One of the locomotion methods is the hopping locomotion method, which exhibits high performance in the fields with rough terrain and uncertainties because it does not require continuous contact with the ground during locomotion. Utilizing resonance in the hopping mechanism should have a beneficial effect on energy consumption and downsizing the system. In this study, in an attempt to utilize resonance for the hopping mechanism, a hopping phenomenon induced by resonance is analyzed; the analysis reveals that a simple resonance of the system results in an insufficient hopping height due to insufficient energy stored by the resonance. The analysis further reveals that dividing excited components and separately exciting them enable the storage of greater energy via resonance than simple excitation. Based on the analysis, this paper proposes an effective energy-storing method for the hopping mechanism through the use of resonance. The effectiveness of the proposed method is confirmed by numerical analyses and experiment.

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“…Indeed, it is easy to confirm that 0 max ≥ t from Eqs. (6), (8), and (13) when the system takes off from the ground. Then, the local maximum value max…”

Section: Preliminary Study For a Hopping Phenomenonmentioning

confidence: 99%

A Hopping Mechanism through the Use of Resonance (An Analytical Study and Proposal for an Effective Hopping Method)

Sugawara

Mizuguchi

Kobayashi

2010

JSDD

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“…Proposed systems [17]. Concepts for the application of contractile DE actuators in space exploration rovers have been also proposed [18].…”

Section: Eaps For Space Applicationsmentioning

confidence: 99%

Concept design of novel bio-inspired distributed actuators for space applications

2009

Self Cite

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“…As a type of electroactive polymer, dielectric electroactive polymer (DEAP) materials have been referred to as 'artificial muscles' owning to their excellent overall performance [1][2][3], including large deformation, high energy density and high speed of response. In recent years, DEAP has been used for various applications such as minirobots for space exploration [3], all-polymer peristaltic pumps [4,5], haptics [6] and energy harvesting [7].…”

Section: Introductionmentioning

confidence: 99%

Electromechanical characteristic analysis of a dielectric electroactive polymer (DEAP) actuator

Zhu

Zhou

Wang

2015

Smart Mater. Struct.

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To assist in the design and optimization of dielectric electroactive polymer (DEAP) actuators, an analytical model for the electromechanical response of cone DEAP actuators is developed. Using the Yeoh form strain energy potential and the Maxwell stress tensor, the constitutive relationship of the DEAP that accounts for the electromechanical coupling behavior is deduced. The equilibrium equations of DEAP actuators with a cone configuration are derived and an analytical model is then proposed. With this model, the actuation characteristics of the DEAP actuator, including actuation displacement, force output and efficiency can be calculated. Additionally, the principal stresses and principal stretch ratio of the membrane under different actuation voltages can be determined, along with the wrinkling failure mode of DEAP actuators. The experimental results for the DEAP actuator matched the numerical results determined using the proposed model. As such, the proposed work is beneficial as a guide for the design optimization of DEAP actuators.

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Martian jumping rover equipped with electroactive polymer actuators: A preliminary study

Cited by 8 publications

References 26 publications

A Hopping Mechanism through the Use of Resonance (An Analytical Study and Proposal for an Effective Hopping Method)

A Hopping Mechanism through the Use of Resonance (An Analytical Study and Proposal for an Effective Hopping Method)

Concept design of novel bio-inspired distributed actuators for space applications

Electromechanical characteristic analysis of a dielectric electroactive polymer (DEAP) actuator

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