Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/66020
Title: Soft actuators and their fabrication for bio-inspired mobile robots
Authors: Lau, Gih-Keong
Low, Sze-Shien
Chin, Yao-Wei
Heng, Kim-Rui
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Microelectromechanical systems
Issue Date: 2014
Abstract: Dielectric elastomer actuators (DEA), which are capable of muscle-like actuation, have potential to drive insect-inspired flapping-wing robotfly. They have not been successfully used to drive flapping wings due to various limitations. This paper revisits their use and integration in a thoracic mechanism as either indirect or direct muscles. Three forms of DEA, namely, folded, rolled, and pre-stretched membrane, were evaluated and integrated in different thoracic mechanisms. The pre-strained membrane of dielectric elastomer was found capable of generating a large rotation. On the other hand, the folded and rolled ones with either no or little pre-strain performed modestly in this flapping-wing application. Pre-strain was found to be important to maximize the actuator performance. In addition, this paper reviewed manufacturing processes for multi-layered DEAs and possibility of introducing pre-strained in the multi-layered layup.
URI: http://hdl.handle.net/10356/66020
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Research Reports (Staff & Graduate Students)

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