A soft creeping robot actuated by dielectric elastomer

Jianwen Zhao; Junyang Niu; Liwu Liu; Jiangcheng Yu

doi:10.1117/12.2044439

8 March 2014 A soft creeping robot actuated by dielectric elastomer

Jianwen Zhao, Junyang Niu, Liwu Liu, Jiangcheng Yu

Proceedings Volume 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014; 905608 (2014) https://doi.org/10.1117/12.2044439
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2014, San Diego, California, United States

Abstract

Dielectric elastomer actuator showed significant advantages at high energy density, large deformation with comparing to other artificial muscle. The robot actuated by dielectric elastomer will be more lightweight and have lower cost, which shows great potential in field of future planetary exploration based on a group of micro-robot. In this context, a quite simple structure for creeping was designed to make the robot more lightweight. The actuation unit of the robot is made of an ellipse frame which can expand and contract with membrane under electric field. After joining four actuation units, the robot can move forward in a cooperative manner. Fabrication and some preliminary experiments of the robot were presented and the proposed motion principle was demonstrated.

Citation Download Citation

Jianwen Zhao, Junyang Niu, Liwu Liu, and Jiangcheng Yu "A soft creeping robot actuated by dielectric elastomer", Proc. SPIE 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014, 905608 (8 March 2014); https://doi.org/10.1117/12.2044439

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