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Electroactive polymers as soft robotic actuators: electromechanical modeling and identification

Conference Paper


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Abstract


  • Biologically inspired robotic applications have

    recently received significant attention due to developments in

    novel materials and actuators with an operation principle

    similar to the natural muscles’. Electroactive polymer (EAP)

    actuators, also known as artificial muscles, possess

    extraordinary properties such as low efficiency consumption,

    compliance, bio-compatibility and ability to be miniaturized.

    Although several methodologies have been proposed for

    modeling and identification of their quasi-static bending

    behavior, a negligibly small attention has been given to their

    dynamic behavior. In this paper, we, therefore, report on their

    electromechanical modeling and parameter identification. We

    model the tri-layer EAP actuators as a soft robotic actuator

    consisting of a significant number of rigid links connected with

    compliant revolute joints. The experimental and numerical

    results presented suggest that the soft robotics approach is an

    effective way to model the EAP actuator and subsequently

    identify its dynamic parameters accurately. We have previously

    employed the same soft robotic approach to estimate the whole

    shape of the EAP actuator as a function of time.

Publication Date


  • 2013

Citation


  • Mutlu, R., Alici, G. & Li, W. (2013). Electroactive polymers as soft robotic actuators: electromechanical modeling and identification. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1096-1101). United States: IEEE.

Scopus Eid


  • 2-s2.0-84883668179

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2267&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1258

Has Global Citation Frequency


Start Page


  • 1096

End Page


  • 1101

Place Of Publication


  • United States

Abstract


  • Biologically inspired robotic applications have

    recently received significant attention due to developments in

    novel materials and actuators with an operation principle

    similar to the natural muscles’. Electroactive polymer (EAP)

    actuators, also known as artificial muscles, possess

    extraordinary properties such as low efficiency consumption,

    compliance, bio-compatibility and ability to be miniaturized.

    Although several methodologies have been proposed for

    modeling and identification of their quasi-static bending

    behavior, a negligibly small attention has been given to their

    dynamic behavior. In this paper, we, therefore, report on their

    electromechanical modeling and parameter identification. We

    model the tri-layer EAP actuators as a soft robotic actuator

    consisting of a significant number of rigid links connected with

    compliant revolute joints. The experimental and numerical

    results presented suggest that the soft robotics approach is an

    effective way to model the EAP actuator and subsequently

    identify its dynamic parameters accurately. We have previously

    employed the same soft robotic approach to estimate the whole

    shape of the EAP actuator as a function of time.

Publication Date


  • 2013

Citation


  • Mutlu, R., Alici, G. & Li, W. (2013). Electroactive polymers as soft robotic actuators: electromechanical modeling and identification. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1096-1101). United States: IEEE.

Scopus Eid


  • 2-s2.0-84883668179

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2267&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1258

Has Global Citation Frequency


Start Page


  • 1096

End Page


  • 1101

Place Of Publication


  • United States