Antagonistic dielectric elastomer actuator for biologically-inspired robotics

Andrew T. Conn; Jonathan Rossiter

doi:10.1117/12.880438

28 March 2011 Antagonistic dielectric elastomer actuator for biologically-inspired robotics

Andrew T. Conn, Jonathan Rossiter

Proceedings Volume 7976, Electroactive Polymer Actuators and Devices (EAPAD) 2011; 79761Z (2011) https://doi.org/10.1117/12.880438
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2011, San Diego, California, United States

Abstract

For optimal performance, actuators designed for biologically-inspired robotics applications need to be capable of mimicking the key characteristics of natural musculoskeletal systems. These characteristics include a large output stroke, high energy density, antagonistic operation and passive compliance. The actuation properties of dielectric elastomer actuators (DEAs) make them viable for use as an artificial muscle technology. However, much like the musculoskeletal system, rigid structures are needed to couple the compliant DEA layers to a load. In this paper, a cone DEA design is developed as an antagonistic, multi-DOF actuator, viable for a variety for biologically-inspired robotics applications. The design has the advantage of maintaining pre-strain through a support structure without substantially lowering the overall mass-specific power density. Prototype cone DEAs have been fabricated with VHB 4910 acrylic elastomer and have characteristic dimensions of 49mm (strut length) and 60mm (DEA diameter). Multi-DOF kinematical outputs of the cone DEAs were measured using a custom 3D motion tracking system. Experimental tests of the prototypes demonstrate antagonistic linear (±10mm), rotational (±25°) and combined multi-DOF strokes. Overall, antagonistic cone DEAs are shown to produce a complex multi-DOF output from a mass-efficient support structure and thus are well suited for being exploited in biologically-inspired robotics.

Citation Download Citation

Andrew T. Conn and Jonathan Rossiter "Antagonistic dielectric elastomer actuator for biologically-inspired robotics", Proc. SPIE 7976, Electroactive Polymer Actuators and Devices (EAPAD) 2011, 79761Z (28 March 2011); https://doi.org/10.1117/12.880438

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available