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A Soft mechatronic microstage mechanism based on electroactive polymer actuators

Journal Article


Abstract


  • Smart actuators have a considerable potential

    to articulate novel mechanisms and mechatronic devices

    inspired from biological systems. Electroactive polymer

    actuators (EAPs), as a class of smart and soft actuators,

    are ideal candidates for bioinspired mechatronic applications

    due to their compliance and built-in actuation

    ability originating from the material they are made of. In

    this paper, we report on a soft mechatronic mechanism,

    like a positioning stage, fabricated from bending-type

    EAP actuators as a one-piece fully compliant mechanism

    inspired from twining structures in nature. We have employed

    a quasi-static finite-element model combined with

    a soft robotic kinematic model to estimate the mechanical

    output of the soft mechatronic mechanism as a function

    of a single electrical input. Experiments were conducted

    under a range of electrical step inputs (0.25–1 V) and

    sine-wave inputs with various frequencies to validate the

    models. Experimental and simulation results show that

    this electrically stimulated soft mechatronic mechanism

    generates a linear displacement as large as 1.8 mm under

    1 V out of its fabrication plane like a lamina emergent mechanism,

    while its bioinspired spiral parts bend and twine.

    This fully compliant and compact mechanism can find a

    place in optics as a microstage and/or an optical zoom

    mechanism.

Publication Date


  • 2016

Citation


  • Mutlu, R., Alici, G. & Li, W. (2016). A Soft mechatronic microstage mechanism based on electroactive polymer actuators. IEEE-ASME Transactions on Mechatronics, 21 (3), 1467-1478.

Scopus Eid


  • 2-s2.0-84969745176

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5582

Has Global Citation Frequency


Number Of Pages


  • 11

Start Page


  • 1467

End Page


  • 1478

Volume


  • 21

Issue


  • 3

Place Of Publication


  • United States

Abstract


  • Smart actuators have a considerable potential

    to articulate novel mechanisms and mechatronic devices

    inspired from biological systems. Electroactive polymer

    actuators (EAPs), as a class of smart and soft actuators,

    are ideal candidates for bioinspired mechatronic applications

    due to their compliance and built-in actuation

    ability originating from the material they are made of. In

    this paper, we report on a soft mechatronic mechanism,

    like a positioning stage, fabricated from bending-type

    EAP actuators as a one-piece fully compliant mechanism

    inspired from twining structures in nature. We have employed

    a quasi-static finite-element model combined with

    a soft robotic kinematic model to estimate the mechanical

    output of the soft mechatronic mechanism as a function

    of a single electrical input. Experiments were conducted

    under a range of electrical step inputs (0.25–1 V) and

    sine-wave inputs with various frequencies to validate the

    models. Experimental and simulation results show that

    this electrically stimulated soft mechatronic mechanism

    generates a linear displacement as large as 1.8 mm under

    1 V out of its fabrication plane like a lamina emergent mechanism,

    while its bioinspired spiral parts bend and twine.

    This fully compliant and compact mechanism can find a

    place in optics as a microstage and/or an optical zoom

    mechanism.

Publication Date


  • 2016

Citation


  • Mutlu, R., Alici, G. & Li, W. (2016). A Soft mechatronic microstage mechanism based on electroactive polymer actuators. IEEE-ASME Transactions on Mechatronics, 21 (3), 1467-1478.

Scopus Eid


  • 2-s2.0-84969745176

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5582

Has Global Citation Frequency


Number Of Pages


  • 11

Start Page


  • 1467

End Page


  • 1478

Volume


  • 21

Issue


  • 3

Place Of Publication


  • United States