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Proceedings Paper

A soft creeping robot actuated by dielectric elastomer
Author(s): Jianwen Zhao; Junyang Niu; Liwu Liu; Jiangcheng Yu
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Paper Abstract

Dielectric elastomer actuator showed significant advantages at high energy density, large deformation with comparing to other artificial muscle. The robot actuated by dielectric elastomer will be more lightweight and have lower cost, which shows great potential in field of future planetary exploration based on a group of micro-robot. In this context, a quite simple structure for creeping was designed to make the robot more lightweight. The actuation unit of the robot is made of an ellipse frame which can expand and contract with membrane under electric field. After joining four actuation units, the robot can move forward in a cooperative manner. Fabrication and some preliminary experiments of the robot were presented and the proposed motion principle was demonstrated.

Paper Details

Date Published: 8 March 2014
PDF: 6 pages
Proc. SPIE 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014, 905608 (8 March 2014); doi: 10.1117/12.2044439
Show Author Affiliations
Jianwen Zhao, Harbin Institute of Technology in Weihai (China)
Junyang Niu, Harbin Institute of Technology in Weihai (China)
Liwu Liu, Harbin Institute of Technology (China)
Jiangcheng Yu, Harbin Institute of Technology in Weihai (China)


Published in SPIE Proceedings Vol. 9056:
Electroactive Polymer Actuators and Devices (EAPAD) 2014
Yoseph Bar-Cohen, Editor(s)

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