A speedy, amphibian, robotic cube: Resonance actuation by a dielectric elastomer

Tang, Chao; Li, Bo; Fang, Hongbin; Li, Zhiqiang; Chen, Hualing

doi:10.1016/j.sna.2017.12.003

Cited by 41 publications

(25 citation statements)

References 31 publications

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“…The pumping performance of this design was maximized by taking advantage of the compliant magnetic coupling so that one membrane could oscillate freely at resonance to greatly improve the stroke of the pump diaphragm, despite the presence of damping from the compressed air. The resonant actuation of MCDEAs can amplify the stroke or power output and increase the energy efficiency, which opens the potential for many applications that exploit this behavior, such as dynamic locomotion [28,30], active vibrational control [31], energy harvesting [32], and programmable soft motors [33,34]. These attractive features of MCDEAs can be realized solely by the embedded compliant coupling and simple inputvoltage programming.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

et al. 2019

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A magnetically coupled dielectric elastomer actuator (MCDEA) is an emerging two-degree-of-freedom DEA system that demonstrates rich dynamic behaviors and promising potential applications in robotics, energy harvesting, and smart structures. However, the three-dimensional geometry, nonlinearity, and viscoelasticity in the system lead to complex nonlinear dynamic behavior that is challenging to predict. In this work, we develop a numerical model that can accurately characterize its dynamic responses. This model, along with experimental results, demonstrates the complex dynamic phenomena of this MCDEA system, including superharmonic, primary-harmonic, and subharmonic resonances, bifurcations, and multiple modes of oscillation. Dynamic control strategies including phase tuning and frequency control are proposed in this work, allowing control of the amplitude and the appearance of a specific resonance and the occurrence of emerging dynamic behaviors, such as beat phenomena. These findings have numerous additional applications in areas including active vibrational control, energy harvesting, and programmable soft motors for on-demand locomotion.

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Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

et al. 2019

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“…The current prototype can only achieve a forward crawling in both vibrational and two-anchor crawling, but in the future development, a steering mechanism for two-anchor crawling is proposed which takes advantage of the multi-degree-offreedom double cone DEAs [14] [15] [21]. For steering in vibrational crawling, different resonant modes of the DEA can be utilized, which generate directional forces, as has been demonstrated by [22]. To achieve real applications of such reconfigurable robot in rescue and surveillance using either swarm vibrational crawling or assembled worm configuration crawling, on-board power supply as well as control systems must be developed.…”

Section: Discussionmentioning

confidence: 99%

A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

Cao

Diteesawat

Rossiter

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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General rightsThis document is made available in accordance with publisher policies. Please cite only the published version using the reference above. Full terms of use are available: http://www.bristol.ac.uk/pure/userguides/explore-bristol-research/ebr-terms/ Abstract -In nature, inchworms can move freely on uneven terrains where conventional wheeled or tracked robots cannot. Emerging soft actuation technologies such as dielectric elastomer actuators (DEAs) offer a new approach for inchworminspired robot designs thanks to their large actuation strain and inherent compliance. In this work, we present a reconfigurable inchworm-inspired crawling robot driven by DEAs that demonstrates two different crawling modes: vibrational crawling and two-anchor crawling. This modular design combines the advantages of fast speed through the vibrational crawling motion and payload transportation capability of the two-anchor crawling motion. A single vibrating module shows a fast locomotion speed of 0.9 body length / second. When two of the robot modules are configured into a two-anchor crawling mode, this new configuration can carry a payload of up to 35% its body weight at a slower speed.

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“…Dielectric elastomers (DEs) are an electronically actuated polymer material. They are the typical investigated electro-active polymers (EAPs) and consist of a low stiffness elastomer placed between two conductive electrodes [5]. The shape or volume of DEs can be changed by external electrical stimulation and can be restored to their original shape or volume when the electrical stimulation is withdrawn.…”

Section: Dielectric Elastomersmentioning

confidence: 99%

Introductory Chapter: The Way to Fulfill Science Fiction

Dong¹

2019

Smart and Functional Soft Materials

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A speedy, amphibian, robotic cube: Resonance actuation by a dielectric elastomer

Cited by 41 publications

References 31 publications

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

Introductory Chapter: The Way to Fulfill Science Fiction

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