کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7134186 | 1461833 | 2017 | 39 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Multiple-degrees-of-freedom dielectric elastomer actuators for soft printable hexapod robot
ترجمه فارسی عنوان
رگهای هگزاپود نرم قابل چاپ چند درجه ای از آزادی دی الکتریک
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
ترانسفورماتور الاستومر دی الکتریک، چندین درجه از آزادی مشترک، روبات هگزاپود نرم، چاپ سه بعدی،
موضوعات مرتبط
مهندسی و علوم پایه
شیمی
الکتروشیمی
چکیده انگلیسی
In this paper, we present the development of a printable hexapod walking robot driven by the multiple-degrees-of-freedom (multi-DOF) soft actuators based on dielectric elastomer. The multi-DOF soft actuators are employed to provide versatile movements including two translations and single rotation within a simple structure based on the antagonistic configuration of two elastomer membranes. The soft actuators demonstrate the potential of being used as a multifunctional joint to actuate the robot leg's motion which biologically mimics the animal's walking posture. The actuator performances are enhanced by developing the novel mixed silicone compound, Wacker P7670 and Nusil CF2-2186, and applying the optimized prestrain to the silicone-based actuator membranes. A theoretically and experimentally comprehensive study was carried out to investigate the soft actuators performances in terms of linear displacements, deflection angle, output force, torque, dynamic response, and load carrying capability. We successfully demonstrated the robot's locomotion on the flat rigid surfaces with the forward and backward walking movements at an average speed of 3Â cm/s (about 12 body-lengths/min) using the alternating tripod walking gait of insects.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Sensors and Actuators A: Physical - Volume 267, 1 November 2017, Pages 505-516
Journal: Sensors and Actuators A: Physical - Volume 267, 1 November 2017, Pages 505-516
نویسندگان
Canh Toan Nguyen, Hoa Phung, Tien Dat Nguyen, Hosang Jung, Hyouk Ryeol Choi,