A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators
In recent years the field of soft robotics has gained a lot of interest both in academia and industry. In contrast to rigid robots, which are potentially very powerful and precise, soft robots are composed of compliant materials like gels or elastomers (Rich et al., 2018; Majidi, 2019). Their exclus...
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Frontiers Media S.A.
2020-02-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2020.00009/full |
| _version_ | 1818198410940907520 |
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| author | Sascha Pfeil Markus Henke Markus Henke Konrad Katzer Konrad Katzer Martina Zimmermann Martina Zimmermann Gerald Gerlach |
| author_facet | Sascha Pfeil Markus Henke Markus Henke Konrad Katzer Konrad Katzer Martina Zimmermann Martina Zimmermann Gerald Gerlach |
| author_sort | Sascha Pfeil |
| collection | DOAJ |
| description | In recent years the field of soft robotics has gained a lot of interest both in academia and industry. In contrast to rigid robots, which are potentially very powerful and precise, soft robots are composed of compliant materials like gels or elastomers (Rich et al., 2018; Majidi, 2019). Their exclusive composition of nearly entirely soft materials offers the potential to extend the use of robotics to fields like healthcare (Burgner-Kahrs et al., 2015; Banerjee et al., 2018) and advance the emerging domain of cooperative human-machine interaction (Asbeck et al., 2014). One material class used frequently in soft robotics as actuators are electroactive polymers (EAPs). Especially dielectric elastomer actuators (DEAs) consisting of a thin elastomer membrane sandwiched between two compliant electrodes offer promising characteristics for actuator drives (Pelrine et al., 2000). Under an applied electric field, the resulting electrostatic pressure leads to a reduction in thickness and an expansion in the free spatial directions. The resulting expansion can reach strain levels of more than 300% (Bar-Cohen, 2004). This paper presents a bioinspired worm-like crawling robot based on DEAs with additional textile reinforcement in its silicone structures. A special focus is set on the developed cylindrical actuator segments that act as linear actuators. |
| first_indexed | 2024-12-12T02:05:26Z |
| format | Article |
| id | doaj.art-c7a4027c3f7c4a9c9354be014e91f10f |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-12T02:05:26Z |
| publishDate | 2020-02-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-c7a4027c3f7c4a9c9354be014e91f10f2022-12-22T00:42:04ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442020-02-01710.3389/frobt.2020.00009496367A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer ActuatorsSascha Pfeil0Markus Henke1Markus Henke2Konrad Katzer3Konrad Katzer4Martina Zimmermann5Martina Zimmermann6Gerald Gerlach7Faculty of Electrical and Computer Engineering, Institute of Solid State Electronics, Technische Universität Dresden, Dresden, GermanyFaculty of Electrical and Computer Engineering, Institute of Semiconductors and Microsystems, Technische Universität Dresden, Dresden, GermanyPowerOn Ltd., Auckland, New ZealandFraunhofer Institute for Material and Beam Technology IWS, Dresden, GermanyFaculty of Mechanical Science and Engineering, Institute for Material Science, Technische Universität Dresden, Dresden, GermanyFraunhofer Institute for Material and Beam Technology IWS, Dresden, GermanyFaculty of Mechanical Science and Engineering, Institute for Material Science, Technische Universität Dresden, Dresden, GermanyFaculty of Electrical and Computer Engineering, Institute of Solid State Electronics, Technische Universität Dresden, Dresden, GermanyIn recent years the field of soft robotics has gained a lot of interest both in academia and industry. In contrast to rigid robots, which are potentially very powerful and precise, soft robots are composed of compliant materials like gels or elastomers (Rich et al., 2018; Majidi, 2019). Their exclusive composition of nearly entirely soft materials offers the potential to extend the use of robotics to fields like healthcare (Burgner-Kahrs et al., 2015; Banerjee et al., 2018) and advance the emerging domain of cooperative human-machine interaction (Asbeck et al., 2014). One material class used frequently in soft robotics as actuators are electroactive polymers (EAPs). Especially dielectric elastomer actuators (DEAs) consisting of a thin elastomer membrane sandwiched between two compliant electrodes offer promising characteristics for actuator drives (Pelrine et al., 2000). Under an applied electric field, the resulting electrostatic pressure leads to a reduction in thickness and an expansion in the free spatial directions. The resulting expansion can reach strain levels of more than 300% (Bar-Cohen, 2004). This paper presents a bioinspired worm-like crawling robot based on DEAs with additional textile reinforcement in its silicone structures. A special focus is set on the developed cylindrical actuator segments that act as linear actuators.https://www.frontiersin.org/article/10.3389/frobt.2020.00009/fullbiomimeticscylindrical DEAdielectric elastomer actuatorstextile reinforcementsoft roboticsin-situ pre-stretch |
| spellingShingle | Sascha Pfeil Markus Henke Markus Henke Konrad Katzer Konrad Katzer Martina Zimmermann Martina Zimmermann Gerald Gerlach A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators Frontiers in Robotics and AI biomimetics cylindrical DEA dielectric elastomer actuators textile reinforcement soft robotics in-situ pre-stretch |
| title | A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators |
| title_full | A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators |
| title_fullStr | A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators |
| title_full_unstemmed | A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators |
| title_short | A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators |
| title_sort | worm like biomimetic crawling robot based on cylindrical dielectric elastomer actuators |
| topic | biomimetics cylindrical DEA dielectric elastomer actuators textile reinforcement soft robotics in-situ pre-stretch |
| url | https://www.frontiersin.org/article/10.3389/frobt.2020.00009/full |
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