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Proceedings Paper

Development of micro inchworm robot actuated by electrostrictive polymer actuator
Author(s): Sunghwi Cho; Sungmoo Ryew; Jaewook Jeon; Hunmo Kim; Jaedo Nam; Hyoukryeol Choi
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Paper Abstract

In previous works, the possibility of the electrostrictive polymer as the actuator use has been proved. In this paper we address an actual design of an actuator and an inchworm type robotic mechanism using the electrostrictive polymer. The robot will be developed to move horizontally, vertically with steering capability, aiming for navigation in small tubular structures such as flexible pipes but now in this stage a simple bellows type robot capable of accomplishing the linear movement like that of an inchworm is introduced. The issues about the mechanism design of the prototype, which has already been developed and under the consideration of reduction in size, are discussed and preliminary results of experiments are given.

Paper Details

Date Published: 16 July 2001
PDF: 9 pages
Proc. SPIE 4329, Smart Structures and Materials 2001: Electroactive Polymer Actuators and Devices, (16 July 2001); doi: 10.1117/12.432668
Show Author Affiliations
Sunghwi Cho, Sungkyunkwan Univ. (Japan)
Sungmoo Ryew, Sungkyunkwan Univ. (South Korea)
Jaewook Jeon, Sungkyunkwan Univ. (South Korea)
Hunmo Kim, Sungkyunkwan Univ. (South Korea)
Jaedo Nam, Sungkyunkwan Univ. (South Korea)
Hyoukryeol Choi, Sungkyunkwan Univ. (South Korea)

Published in SPIE Proceedings Vol. 4329:
Smart Structures and Materials 2001: Electroactive Polymer Actuators and Devices
Yoseph Bar-Cohen, Editor(s)

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