A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators
A kind of dielectric elastomer (DE) material, called 'synthetic elastomer', has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actua...
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| Published in | Smart materials and structures Vol. 23; no. 6; pp. 1 - 12 |
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| Main Authors | , , , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bristol
IOP Publishing
01.06.2014
Institute of Physics |
| Subjects | |
| Online Access | Get full text |
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| Abstract | A kind of dielectric elastomer (DE) material, called 'synthetic elastomer', has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators. |
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| AbstractList | A kind of dielectric elastomer (DE) material, called 'synthetic elastomer', has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators. |
| Author | Choi, Hyouk Ryeol Moon, Hyungpil Nam, Jae-do Phung, Hoa Kim, Uikyum Nguyen, Canh Toan Nguyen, Tien Dat Lee, Choonghan Lee, Donghyouk Koo, Jachoon |
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| Keywords | Actuators Force measurement Electroactive polymer Prototype Stacking sequence Dielectric materials System with two degrees of freedom Joining Robotics ABS Biomimetics Kinematics Miniaturization Performance |
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| SubjectTerms | Actuators biomimetic Dielectrics Elastomers Exact sciences and technology Feasibility General equipment and techniques Instruments, apparatus, components and techniques common to several branches of physics and astronomy legged robot Miniature multistacked dielectric elastomer actuators Performance evaluation Physics Robots Servo and control equipment; robots Stacking |
| Title | A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators |
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