Journal
SENSORS AND ACTUATORS A-PHYSICAL
Volume 270, Issue -, Pages 1-7Publisher
ELSEVIER SCIENCE SA
DOI: 10.1016/j.sna.2017.12.003
Keywords
Dielectric elastomer; Electromechanical resonance; Locomotion dynamics; Robot
Funding
- National Natural Science Foundation of China [91648110, 11402184, 11321062]
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Dielectric elastomers (DEs), as a stimuli-responsive material, have been widely used in soft robots with the advantages of high deformability and adaptability. Since most research on DE has been focus on its quasi-static actuation, its dynamics is under-explored. In this paper, a robotic cube actuated by the resonance of DE is proposed, according to the characterization of the out-of-plane vibration in DE. A model is established to study the motion performance of the robot which agrees with the experimental result. The robot has three superior motion performances: 1) a high speed (2.8 body length per second) that is much faster than previously reported application using soft, responsive materials; 2) a weight-carrying ability (exceeding its own weight); 3) locomotion either on the land or on the surface of water. (C) 2017 Published by Elsevier B.V.
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