Printable monolithic hexapod robot driven by soft actuator

Nguyen, Canh Toan; Phung, Hoa; Jung, Hosang; Kim, Uikyum; Nguyen, Tien Dat; Park, Jun‐Woo; Moon, Hyungpil; Koo, Ja Choon; Choi, Hyouk Ryeol

doi:10.1109/icra.2015.7139820

Cited by 38 publications

(28 citation statements)

References 25 publications

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“…Many applications along with different configurations of DEAs have been developed. For example, DEA-driven robots [8][9][10][11]; fast and accurate tunable optics [12,13]; and miniature DEA pump and valves [14,15].…”

Section: Introductionmentioning

confidence: 99%

“…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%

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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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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Performance Optimization of a Conical Dielectric Elastomer Actuator

Cao

Conn

2018

Actuators

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“…A minimum energy structure is used in [13] to design another inchworm type robot. Cone shaped actuators with multiple degrees of freedom have also been used in a hexapod [14]. Most of these robots move in a single direction, restricted by the configuration of the actuators.…”

Section: Introductionmentioning

confidence: 99%

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Digumarti

Cao

Guo

et al. 2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

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This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.

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“…A multi-stack DEA works as a slider in the mechanism. Later, S-Hex 1 was introduced using a double cone DEA from the same research group [101]. The actuator module consists of two cone-shaped DE elastomers.…”

Section: Insect-like Walking Robotmentioning

confidence: 99%

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

et al. 2020

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This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft robots. This paper begins with the introduction of the working principle of the dielectric elastomer actuators. Because the operation of DEA includes the physics of both mechanical viscoelastic properties and dielectric characteristics, we describe theoretical modeling methods for the DEA before introducing applications. In addition, the design of artificial muscles based on DEA is also introduced. This paper reviews four popular subjects for the application of DEA: soft robot hand, locomotion robots, wearable devices, and tunable optical components. Other potential applications and challenging issues are described in the conclusion.

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Printable monolithic hexapod robot driven by soft actuator

Cited by 38 publications

References 25 publications

Performance Optimization of a Conical Dielectric Elastomer Actuator

Performance Optimization of a Conical Dielectric Elastomer Actuator

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

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