TY - GEN
T1 - Asymmetric Soft Ω-robot Utilizing Minimized Energy Structure of Unequally Pre-stretched Dielectric Elastomer
AU - Li, Bo
AU - Zhao, Xinyu
AU - Wang, Haitian
AU - Jiang, Lei
AU - Chen, Guimin
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Dielectric elastomer minimum energy structures (DEMES) are commonly used soft actuators in soft robots owing to their simple structures and high mechanical integration. However, the complex nonlinear characters in the deflections of the DEMES challenge the robotic control. In this paper, a new DEMES with an asymmetric saddle surface is proposed, which offers alignment of actuation stroke with the direction of robot locomotion, yielding a highly efficient mechanical transmission. The DEMES saddle surface, when an alternative dynamic voltage of 4 kV is applied, resulting in quick and predictable responses. Based on this character, a soft robot actuated by the new DEMES is designed and fabricated. Experiments demonstrate that this soft robot is capable of (i) fast crawling in a straight line and steering, (ii) payload-carrying, and (iii) environmental adaptation. The results are compared with the existing reports to highlight the advantages to be benefited.
AB - Dielectric elastomer minimum energy structures (DEMES) are commonly used soft actuators in soft robots owing to their simple structures and high mechanical integration. However, the complex nonlinear characters in the deflections of the DEMES challenge the robotic control. In this paper, a new DEMES with an asymmetric saddle surface is proposed, which offers alignment of actuation stroke with the direction of robot locomotion, yielding a highly efficient mechanical transmission. The DEMES saddle surface, when an alternative dynamic voltage of 4 kV is applied, resulting in quick and predictable responses. Based on this character, a soft robot actuated by the new DEMES is designed and fabricated. Experiments demonstrate that this soft robot is capable of (i) fast crawling in a straight line and steering, (ii) payload-carrying, and (iii) environmental adaptation. The results are compared with the existing reports to highlight the advantages to be benefited.
UR - https://www.scopus.com/pages/publications/85124805272
U2 - 10.1109/M2VIP49856.2021.9665106
DO - 10.1109/M2VIP49856.2021.9665106
M3 - 会议稿件
AN - SCOPUS:85124805272
T3 - 2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021
SP - 241
EP - 246
BT - 2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021
Y2 - 26 November 2021 through 28 November 2021
ER -