Design of a Single-Acting Constant-Force Actuator Based on Dielectric Elastomers

Abstract

The interest in actuators based on dielectric elastomer films as a promising technology in robotic and mechatronic applications is increasing. The overall actuator performances are influenced by the design of both the active film and the film supporting frame. This paper presents a single-acting actuator, which is capable of supplying a constant force over a given range of motion. The actuator is obtained by coupling a rectangular film of silicone dielectric elastomer with a monolithic frame designed to suitably modify the force generated by the dielectric elastomer film. The frame is a fully compliant mechanism whose main structural parameters are calculated using a pseudo-rigid-body model and then verified by finite element analysis. Simulations show promising performance of the proposed actuator.

A miniaturized optical force sensor for tendon-driven mechatronic systems: Design and experimental evaluation

“…Compliant mechanisms are often used for the implementation of linear actuators using smart materials [28,29], for the development of compliant transmission system [30] or as displacement/ force magnifiers [31,32]. With respect to previous solutions, the particular characteristic of the proposed sensor is that it can be mounted in any position along the tendon and it does not need to be designed as a structural element, i.e.…”

Miniaturized optical-based force sensors for tendon-driven robots

“…Compliant mechanisms are often used also for the implementation of linear actuators using smart materials [22], for the development of compliant transmission system [23] or as displacement/force magnifiers [24], [25]. With respect to previous solutions, a particular characteristic of the designed sensor is that it can be mounted in any position along the tendon and it don't need to be designed as a structural element i.e.…”

Force sensor based on discrete optoelectronic components and compliant frames

“…is the Young's modulus of the material and b is the thickness of the compliant frame that is constant (b = 4.6 × 10 −3 m) to allow a simpler manufacturing by means of wire electro-erosion. Note that the slender beam condition (19) is necessary to allows the simple beam model to be valid. It is also important to remark that the compliant mechanisms is symmetric to obtain the same deformation on both the sides of the compliant frame and to allow its elongation along the direction of the traction force to be measured.…”

“…The compliant frame is a monolithic metallic structure suitably designed to obtain an angular displacement of the optical axes of the optoelectronic components linearly proportional to the force applied in the direction of the tendon. Compliant mechanisms are often used also for the implementation of linear actuators using smart materials [19], for the development of compliant transmission systems [20] or as displacement/force magnifiers [21,22]. The designed compliant frame has been mounted between the actuation module and the tendon that drives the phalanx.…”