Multiple-degrees-of-freedom dielectric elastomer actuators for soft printable hexapod robot

•The application of the multiple-degrees-of-freedom (multi-DOF) soft actuators based on dielectric elastomer in driving the locomotion of a hexapod walking robot is presented in this paper.•The actuator performances are significantly enhanced by replacing the synthetic elastomer with the novel mixed...

Full description

Saved in:
Bibliographic Details
Published in:Sensors and actuators. A. Physical. 2017-11, Vol.267, p.505-516
Main Authors: Nguyen, Canh Toan, Phung, Hoa, Nguyen, Tien Dat, Jung, Hosang, Choi, Hyouk Ryeol
Format: Article
Language:English
Subjects:
3D printing
Actuators
Degrees of freedom
Dielectric elastomer actuators
Dielectric properties
Dynamic response
Elastomers
Gait
Insect mimicking walking robots
Insects
Locomotion
Membranes
Multiple-degrees-of-freedom joint
Performance enhancement
Robot dynamics
Robots
Sensors
Soft hexapod robot
Studies
Translations
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:•The application of the multiple-degrees-of-freedom (multi-DOF) soft actuators based on dielectric elastomer in driving the locomotion of a hexapod walking robot is presented in this paper.•The actuator performances are significantly enhanced by replacing the synthetic elastomer with the novel mixed silicone compound, Wacker P7670 and Nusil CF2-2186, and applying the optimized prestrain to the silicone-based actuator membranes.•The hexapod robot’s fabrication process is implemented using 3D printing technology which provides the lightweight, scalable, and easy-to-manufacture characteristic of the robot.•A theoretically and experimentally comprehensive study is carried out to investigate the soft actuators performances in terms of linear displacements, deflection angle, output force, torque, dynamic response, and load carrying capability.•The hexapod robot’s locomotion on flat rigid surfaces with the forward and backward walking movements at an average speed of 3cm/s (about 12 body-lengths/min) using the alternating tripod walking gait of insects is successfully demonstrated. In this paper, we present the development of a printable hexapod walking robot driven by the multiple-degrees-of-freedom (multi-DOF) soft actuators based on dielectric elastomer. The multi-DOF soft actuators are employed to provide versatile movements including two translations and single rotation within a simple structure based on the antagonistic configuration of two elastomer membranes. The soft actuators demonstrate the potential of being used as a multifunctional joint to actuate the robot leg’s motion which biologically mimics the animal’s walking posture. The actuator performances are enhanced by developing the novel mixed silicone compound, Wacker P7670 and Nusil CF2-2186, and applying the optimized prestrain to the silicone-based actuator membranes. A theoretically and experimentally comprehensive study was carried out to investigate the soft actuators performances in terms of linear displacements, deflection angle, output force, torque, dynamic response, and load carrying capability. We successfully demonstrated the robot’s locomotion on the flat rigid surfaces with the forward and backward walking movements at an average speed of 3cm/s (about 12 body-lengths/min) using the alternating tripod walking gait of insects.
ISSN:0924-4247
1873-3069
DOI:10.1016/j.sna.2017.10.010