A Jumping Robot Driven by a Dielectric Elastomer Actuator

Luo, Bei; Li, Bingyang; Yu, Yuan; Meng, Y.; Yang, Weimin; Wang, Pengfei; Jiao, Zhiwei

doi:10.3390/app10072241

Cited by 22 publications

(25 citation statements)

References 23 publications

(26 reference statements)

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“…The design of the rolling module referred to the model of single pendulum structure, including counterweight (1), sheet metal (2), major shaft (3), bearing (4), drive motor (5), and bevel gear set (6), shown in Figure 2a. The drive motor (5), which was connected with the major shaft (3) through a bevel gear set (6), transmitted energy to the counterweight and housing through the bearing (5).…”

Section: Rolling Modulementioning

confidence: 99%

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Design and Analysis of the Rolling and Jumping Compound Motion Robot

Wang

et al. 2021

Applied Sciences

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Complex and unknown areas in deep space exploration present major challenges to the motion ability of current space robots. Different from the traditional single-mode motion space robot, a compound motion robot with flexible movement and strong obstacle surmounting ability is proposed. Through the highly integrated structure design, the lightweight robot has the ability of rolling and jumping, and the kinematic characteristics of the robot under two motion modes are analyzed. This work provides a reference for the design of deep space exploration equipment with high motion capability in the future.

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Section: Rolling Modulementioning

confidence: 99%

“…Compared with wheeled, tracked, or legged structures [2][3][4], they have smaller volume and higher fault tolerance. When facing rough terrain or large obstacles, jumping robots are obviously the most reasonable choice, which can surmount an obstacle of their own size, or even several times their own size [5].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Wang

et al. 2021

Applied Sciences

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“…Smart material actuation has emerged in recent 30 years [38]. The commonly intelligent materials including SMA, EAP, DEA, and so forth [103][104][105]. Because the intelligent material can be used as a CRs ontology or embedded in the robot body without rigid motor, and the energy source can be natural energy such as light, temperature or humidity.…”

Section: Smart Materials Drivenmentioning

confidence: 99%

“…Smart materials driven [102][103][104][105][106][107][108][109] Smart materials are usually used as raw materials for robots and play a role in the movement of robots. Under external stimuli, the robot will perform expected actions due to the properties of the material.…”

Section: Description Advantagementioning

confidence: 99%

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Zhong

2020

Actuators

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Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.

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“…Some authors demonstrated how DEAs can be used to manufacture lightweight fluid pumps (Mohd Ghazali et al, 2017;Cao et al, 2019;Linnebach et al, 2020), or showcased the possibility of generating high forces (Hau et al, 2018b). Further examples of DEA prototypes range from DE driven loudspeakers (Rustighi et al, 2018), contactors (Linnebach et al, 2019), and valves (Hill et al, 2017) to jumping devices (Luo et al, 2020) and medical systems (Goulbourne et al, 2003), to mention a few.…”

Section: Introductionmentioning

confidence: 99%

Fully Polymeric Domes as High-Stroke Biasing System for Soft Dielectric Elastomer Actuators

Neu

Hubertus²,

Croce

et al. 2021

Front. Robot. AI

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The availability of compliant actuators is essential for the development of soft robotic systems. Dielectric elastomers (DEs) represent a class of smart actuators which has gained a significant popularity in soft robotics, due to their unique mix of large deformation (>100%), lightweight, fast response, and low cost. A DE consists of a thin elastomer membrane coated with flexible electrodes on both sides. When a high voltage is applied to the electrodes, the membrane undergoes a controllable mechanical deformation. In order to produce a significant actuation stroke, a DE membrane must be coupled with a mechanical biasing system. Commonly used spring-like bias elements, however, are generally made of rigid materials such as steel, and thus they do not meet the compliance requirements of soft robotic applications. To overcome this issue, in this paper we propose a novel type of compliant mechanism as biasing elements for DE actuators, namely a three-dimensional polymeric dome. When properly designed, such types of mechanisms exhibit a region of negative stiffness in their force-displacement behavior. This feature, in combination with the intrinsic softness of the polymeric material, ensures large actuation strokes as well as compliance compatibility with soft robots. After presenting the novel biasing concept, the overall soft actuator design, manufacturing, and assembly are discussed. Finally, experimental characterization is conducted, and the suitability for soft robotic applications is assessed.

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A Jumping Robot Driven by a Dielectric Elastomer Actuator

Cited by 22 publications

References 23 publications

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Fully Polymeric Domes as High-Stroke Biasing System for Soft Dielectric Elastomer Actuators

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