A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation

Jean-Sébastien Plante; Lauren M. Devita; Steven Dubowsky

doi:10.1117/12.715236

4 April 2007 A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation

Jean-Sébastien Plante, Lauren M. Devita, Steven Dubowsky

Proceedings Volume 6524, Electroactive Polymer Actuators and Devices (EAPAD) 2007; 652406 (2007) https://doi.org/10.1117/12.715236
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2007, San Diego, California, United States

Abstract

Fundamental studies of Dielectric Elastomer Actuators (DEAs) using viscoelastic materials such as VHB 4905/4910 from 3M showed significant advantages at high stretch rates. The film's viscous forces increase actuator life and the short power-on times minimize energy losses through current leakage. This paper presents a design paradigm that exploits these fundamental properties of DEAs called discrete actuation. Discrete actuation uses DEAs at high stretch rates to change the states of robotic or mechatronic systems in discrete steps. Each state of the system is stable and can be maintained without actuator power. Discrete actuation can be used in robotic and mechatronic applications such as manipulation and locomotion. The resolution of such systems increases with the number of discrete states, 10 to 100 being sufficient for many applications. An MRI-guided needle positioning device for cancer treatments and a space exploration robot using hopping for locomotion are presented as examples of this concept.

Citation Download Citation

Jean-Sébastien Plante, Lauren M. Devita, and Steven Dubowsky "A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation", Proc. SPIE 6524, Electroactive Polymer Actuators and Devices (EAPAD) 2007, 652406 (4 April 2007); https://doi.org/10.1117/12.715236

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