Elastic Actuation for Legged Locomotion

Chongjing Cao, Andrew Conn

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

3 Citations (Scopus)
334 Downloads (Pure)

Abstract

The inherent elasticity of dielectric elastomer actuators (DEAs) gives this technology great potential in energy efficient locomotion applications. In this work, a modular double cone DEA is developed with reduced manufacturing and maintenance time costs. This actuator can lift 45 g of mass (5 times its own weight) while producing a stroke of 10.4 mm (23.6% its height). The contribution of the elastic energy stored in antagonistic DEA membranes to the mechanical work output is experimentally investigated by adding delay into the DEA driving voltage. Increasing the delay time in actuation voltage and hence reducing the duty cycle is found to increase the amount of elastic energy being recovered but an upper limit is also noticed. The DEA is then applied to a three-segment leg that is able to move up and down by 17.9 mm (9% its initial height), which demonstrates the feasibility of utilizing this DEA design in legged locomotion.
Original languageEnglish
Title of host publicationElectroactive Polymer Actuators and Devices (EAPAD) 2017
EditorsYoseph Bar-Cohen
Place of PublicationPortland, Oregon, US
PublisherSociety of Photo-Optical Instrumentation Engineers (SPIE)
Number of pages10
ISBN (Electronic)9781510608122
ISBN (Print)9781510608115
DOIs
Publication statusPublished - 17 Apr 2017
EventElectroactive Polymer Actuators and Devices (EAPAD) 2017: Proc. SPIE 10163 - Portland, United States
Duration: 25 Mar 201529 Mar 2017

Publication series

NameProceedings of SPIE
PublisherSociety of Photo-optical Instrumentation Engineers (SPIE)
Volume10163
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X

Conference

ConferenceElectroactive Polymer Actuators and Devices (EAPAD) 2017
Country/TerritoryUnited States
CityPortland
Period25/03/1529/03/17

Keywords

  • dielectric elastomer actuators
  • elastic energy recovery
  • legged locomotion

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