Robotic Waist Mechanism Driven by Dielectric Elastomer Actuators

Shuai Guo; Zhi Yong Wang; Jian Li; Wei Shi

doi:10.4028/www.scientific.net/AMM.128-129.265

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 128-129Robotic Waist Mechanism Driven by Dielectric...

Robotic Waist Mechanism Driven by Dielectric Elastomer Actuators

Abstract:

This paper presented a waist mechanism driven by dielectric elastomer actuators (DEA), suitable for a small light robot. Unlike traditionally continuous range-of-motion actuators, DEA have only two discrete states, both of which are stable. As a result, waist mechanism has a finite number of states, but works like human waist and just need 36 switching values to control. Major benefits of the waist mechanism are that extensive feedback control is not required, task repeatability can be very high, and DEA are very inexpensive, thus resulting in low cost robots. The waist mechanism is attractive but needs further investigation before successful application.

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Periodical:

Applied Mechanics and Materials (Volumes 128-129)

Pages:

265-269

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.128-129.265

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Online since:

October 2011

Authors:

Shuai Guo, Zhi Yong Wang, Jian Li, Wei Shi

Keywords:

Dielectric Elastomer Actuators, Mechanism Design, Waist Mechanism

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