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Modeling a soft robotic mechanism articulated with dielectric elastomer actuators

Conference Paper


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Abstract


  • In this paper, a translational actuation mechanism in

    the form of a parallel-crank mechanism (i.e. double-crank 4-bar

    mechanism) articulated with two dielectric elastomer actuators

    working in parallel are fabricated. This structure, which is a fully

    soft mechanism, is established by stretching a dielectric elastomer

    (DE) film over a PET (polyethylene terephthalate) frame so that

    the energy released from the stretched DE film is stored in the

    frame as bending energy. The mechanism generates a

    translational output under a driving voltage applied between two

    electrodes of the DE film. The visco-elastic models are proposed

    for the mechanism so that the mechanical properties of the

    actuator can more accurately be incorporated into the

    mechanism model. The proposed model accurately predicts the

    experimental frequency response of the mechanism at different

    voltages.

Publication Date


  • 2014

Citation


  • Nguyen, C. Huu., Alici, G. & Mutlu, R. (2014). Modeling a soft robotic mechanism articulated with dielectric elastomer actuators. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 599-604). United States: IEEE.

Scopus Eid


  • 2-s2.0-84906706674

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=4447&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/3430

Has Global Citation Frequency


Start Page


  • 599

End Page


  • 604

Place Of Publication


  • United States

Abstract


  • In this paper, a translational actuation mechanism in

    the form of a parallel-crank mechanism (i.e. double-crank 4-bar

    mechanism) articulated with two dielectric elastomer actuators

    working in parallel are fabricated. This structure, which is a fully

    soft mechanism, is established by stretching a dielectric elastomer

    (DE) film over a PET (polyethylene terephthalate) frame so that

    the energy released from the stretched DE film is stored in the

    frame as bending energy. The mechanism generates a

    translational output under a driving voltage applied between two

    electrodes of the DE film. The visco-elastic models are proposed

    for the mechanism so that the mechanical properties of the

    actuator can more accurately be incorporated into the

    mechanism model. The proposed model accurately predicts the

    experimental frequency response of the mechanism at different

    voltages.

Publication Date


  • 2014

Citation


  • Nguyen, C. Huu., Alici, G. & Mutlu, R. (2014). Modeling a soft robotic mechanism articulated with dielectric elastomer actuators. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 599-604). United States: IEEE.

Scopus Eid


  • 2-s2.0-84906706674

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=4447&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/3430

Has Global Citation Frequency


Start Page


  • 599

End Page


  • 604

Place Of Publication


  • United States