Abstract
Robotic devices typically utilize rigid components in order to produce
precise and robust operation. Rigidity becomes a significant impediment,
however, when navigating confined or constricted environments e.g.
search-and-rescue, industrial pipe inspection. In such cases adaptively
conformable soft structures become optimal. Dielectric elastomers (DEs)
are well suited for developing such soft robots since they are
inherently compliant and can produce large musclelike actuation strains.
In this paper, a soft segmented inchworm robot is presented that
utilizes pneumatically-coupled DE membranes to produce inchworm-like
locomotion. The robot is constructed from repeated body segments, each
with a simple control architecture, so that the total length can be
readily adapted by adding or removing segments. Each segment consists of
a soft inflatable shell (internal pressure in range of 1.0-15.9 mBar)
and a pair of antagonistic DE membranes (VHB 4905). Experimental testing
of a single body segment is presented and the relationship between drive
voltage, pneumatic pressure and active displacement is characterized.
This demonstrates that pneumatic coupling of DE membranes induces
complex non-linear electro-mechanical behaviour as drive voltage and
pneumatic pressure are altered. Locomotion of a two-segment inchworm
robot prototype with a passive length of 80 mm is presented. Artificial
setae are included on the body shell to generate anisotropic friction
for locomotion. A maximum locomotion speed of 4.1 mm/s was recorded at a
drive frequency of 1.5 Hz, which compares favourably to biological
counterparts. Future development of the soft inchworm robot are
discussed including reflexive low-level control of individual segments.
Original language | English |
---|---|
Title of host publication | Proceedings of SPIE - The International Society for Optical Engineering |
Publisher | Society of Photo-Optical Instrumentation Engineers (SPIE) |
Volume | 9056 |
ISBN (Print) | 9780819499820 |
DOIs | |
Publication status | Published - 8 Mar 2014 |
Event | Electroactive Polymer Actuators and Devices, EAPAD 2014 - San Diego, CA, United Kingdom Duration: 10 Mar 2014 → 13 Mar 2014 |
Publication series
Name | Proceedings of the SPIE |
---|
Conference
Conference | Electroactive Polymer Actuators and Devices, EAPAD 2014 |
---|---|
Country/Territory | United Kingdom |
City | San Diego, CA |
Period | 10/03/14 → 13/03/14 |
Research Groups and Themes
- Engineering Mathematics Research Group
Keywords
- anisotropic friction
- Dielectric elastomer
- inchworm locomotion
- pneumatic coupling
- soft robot