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Title: Soft Actuators and their Fabrication for Bio-Inspired Mobile Robots
Authors: Heng, Kim-Rui
Lau, Gih-Keong
Low, Sze-Shien
Chin, Yao-Wei
Keywords: Dielectric elastomer actuator
Soft robot
Issue Date: 2014
Source: Lau, G. -K., Low, S. -S., Chin, Y. -W., & Heng, K. -R. (2014). Soft Actuators and their Fabrication for Bio-Inspired Mobile Robots. Proceedings of the 1st International Conference on Progress in Additive Manufacturing (Pro-AM 2014), 185-192.
Abstract: Dielectric elastomer actuators (DEA), which are capable of muscle-like actuation, have potential to drive insect-inspired flapping-wing robotfly. There have yet 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, i.e. 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.
DOI: 10.3850/978-981-09-0446-3_120
Rights: © 2014 by Research Publishing Services.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Conference Papers
Pro-AM Conference Papers

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