Development of soft robots using dielectric elastomer actuators

Hareesh Godaba; Yuzhe Wang; Jiawei Cao; Jian Zhu

doi:10.1117/12.2218852

15 April 2016 Development of soft robots using dielectric elastomer actuators

Hareesh Godaba, Yuzhe Wang, Jiawei Cao, Jian Zhu

Proceedings Volume 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016; 97981T (2016) https://doi.org/10.1117/12.2218852
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2016, Las Vegas, Nevada, United States

Abstract

Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.

Citation Download Citation

Hareesh Godaba, Yuzhe Wang, Jiawei Cao, and Jian Zhu "Development of soft robots using dielectric elastomer actuators", Proc. SPIE 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016, 97981T (15 April 2016); https://doi.org/10.1117/12.2218852

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