Soft dielectric elastomer microactuator for robot locomotion
This paper presents dielectric elastomer actuated robot locomotion and the development of a robotic model structure based using a dielectric elastomer actuator. A pre-stretched dielectric elastomer actuator is fabricated onto acrylic frames to form single and multiple robotic crawler models. The cra...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Institute of Advanced Engineering and Science
2020
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| Online Access: | http://eprints.utm.my/90322/1/FarahAfiqaMohd2020_SoftDielectricElastomerMicroactuatorforRobot.pdf |
| _version_ | 1796865006039465984 |
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| author | Mohd. Ghazali, Farah Afiqa Wong, Yi Jie Ahmad Fuaad, Mariatul Rawdhah Mohamed Ali, Mohamed Sultan |
| author_facet | Mohd. Ghazali, Farah Afiqa Wong, Yi Jie Ahmad Fuaad, Mariatul Rawdhah Mohamed Ali, Mohamed Sultan |
| author_sort | Mohd. Ghazali, Farah Afiqa |
| collection | ePrints |
| description | This paper presents dielectric elastomer actuated robot locomotion and the development of a robotic model structure based using a dielectric elastomer actuator. A pre-stretched dielectric elastomer actuator is fabricated onto acrylic frames to form single and multiple robotic crawler models. The crawler models demonstrate forwards motion upon application of high voltage to the attached dielectric elastomer actuator. Characterizations revealed that the fabricated multiple crawler models showed results over the single crawler model in terms of locomotion potential. The maximum forward locomotion speed of the multiple crawler models is recorded as 1.2 mm/s. Nonetheless, precise results are highly attainable provided a structured and coherent fabrication technique of the dielectric elastomer actuator is implemented. |
| first_indexed | 2024-03-05T20:50:25Z |
| format | Article |
| id | utm.eprints-90322 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T20:50:25Z |
| publishDate | 2020 |
| publisher | Institute of Advanced Engineering and Science |
| record_format | dspace |
| spelling | utm.eprints-903222021-04-30T14:48:34Z http://eprints.utm.my/90322/ Soft dielectric elastomer microactuator for robot locomotion Mohd. Ghazali, Farah Afiqa Wong, Yi Jie Ahmad Fuaad, Mariatul Rawdhah Mohamed Ali, Mohamed Sultan TK Electrical engineering. Electronics Nuclear engineering This paper presents dielectric elastomer actuated robot locomotion and the development of a robotic model structure based using a dielectric elastomer actuator. A pre-stretched dielectric elastomer actuator is fabricated onto acrylic frames to form single and multiple robotic crawler models. The crawler models demonstrate forwards motion upon application of high voltage to the attached dielectric elastomer actuator. Characterizations revealed that the fabricated multiple crawler models showed results over the single crawler model in terms of locomotion potential. The maximum forward locomotion speed of the multiple crawler models is recorded as 1.2 mm/s. Nonetheless, precise results are highly attainable provided a structured and coherent fabrication technique of the dielectric elastomer actuator is implemented. Institute of Advanced Engineering and Science 2020-12 Article PeerReviewed application/pdf en http://eprints.utm.my/90322/1/FarahAfiqaMohd2020_SoftDielectricElastomerMicroactuatorforRobot.pdf Mohd. Ghazali, Farah Afiqa and Wong, Yi Jie and Ahmad Fuaad, Mariatul Rawdhah and Mohamed Ali, Mohamed Sultan (2020) Soft dielectric elastomer microactuator for robot locomotion. Bulletin of Electrical Engineering and Informatics, 9 (6). pp. 2286-2293. ISSN 2089-3191 http://dx.doi.org/10.11591/eei.v9i6.2208 DOI:10.11591/eei.v9i6.2208 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd. Ghazali, Farah Afiqa Wong, Yi Jie Ahmad Fuaad, Mariatul Rawdhah Mohamed Ali, Mohamed Sultan Soft dielectric elastomer microactuator for robot locomotion |
| title | Soft dielectric elastomer microactuator for robot locomotion |
| title_full | Soft dielectric elastomer microactuator for robot locomotion |
| title_fullStr | Soft dielectric elastomer microactuator for robot locomotion |
| title_full_unstemmed | Soft dielectric elastomer microactuator for robot locomotion |
| title_short | Soft dielectric elastomer microactuator for robot locomotion |
| title_sort | soft dielectric elastomer microactuator for robot locomotion |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/90322/1/FarahAfiqaMohd2020_SoftDielectricElastomerMicroactuatorforRobot.pdf |
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