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Proceedings Paper

DEMES rotary joint: theories and applications
Author(s): Shu Wang; Zhaogang Hao; Mingyu Li; Bo Huang; Lining Sun; Jianwen Zhao
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Paper Abstract

As a kind of dielectric elastomer actuators, dielectric elastomer minimum energy structure (DEMES) can realize large angular deformations by small voltage-induced strains, which make them an attractive candidate for use as biomimetic robotics. Considering the rotary joint is a basic and common component of many biomimetic robots, we have been fabricated rotary joint by DEMES and developed its performances in the past two years. In this paper, we have discussed the static analysis, dynamics analysis and some characteristics of the DEMES rotary joint. Based on theoretical analysis, some different applications of the DEMES rotary joint were presented, such as a flapping wing, a biomimetic fish and a two-legged walker. All of the robots are fabricated by DEMES rotary joint and can realize some basic biomimetic motions. Comparing with traditional rigid robot, the robot based on DEMES is soft and light, so it has advantage on the collision-resistant.

Paper Details

Date Published: 17 April 2017
PDF: 11 pages
Proc. SPIE 10163, Electroactive Polymer Actuators and Devices (EAPAD) 2017, 101630O (17 April 2017); doi: 10.1117/12.2258208
Show Author Affiliations
Shu Wang, Harbin Institute of Technology (China)
Zhaogang Hao, Harbin Institute of Technology (China)
Mingyu Li, Harbin Institute of Technology (China)
Bo Huang, Harbin Institute of Technology (China)
Lining Sun, Soochow Univ. (China)
Jianwen Zhao, Harbin Institute of Technology (China)

Published in SPIE Proceedings Vol. 10163:
Electroactive Polymer Actuators and Devices (EAPAD) 2017
Yoseph Bar-Cohen, Editor(s)

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