Lai, William and Bastawros, Ashraf F. and Hong, Wei and Chung, Soon-Jo (2012) Fabrication and analysis of planar dielectric elastomer actuators capable of complex 3-D deformation. In: 2012 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4968-4973. ISBN 978-1-4673-1405-3. http://resolver.caltech.edu/CaltechAUTHORS:20161109-080512793
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Abstract
A new design for a dielectric elastomer actuator with geometrically confining reinforcements is presented. The resulting structures enable complex 3-dimentional motion without the need of the membrane prestretch. An in situ imaging system is used to capture the complex deformation pattern to evaluate the surface curvatures. The deformation mode is analyzed analytically using the bi-laminate theory to explore the actuator performance and further develop analytical model amenable for control strategies. A finite element material model is also developed to couple the applied electric field to the resulting deformation. The model is used to analyze more complex deformation patterns. The proposed confining reinforcements would enable the development of flexible wings for agile aerial robotics and compliant continuum robotics, utilizing the proposed deformation mechanisms to provide controllable many degrees of freedom.
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| Additional Information: | © 2012 IEEE. Date Added to IEEE Xplore: 28 June 2012. This work is supported by U.S. Army Research Office under Award No W911NF-10-1-0296. | |||||||||
| Group: | GALCIT | |||||||||
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| Record Number: | CaltechAUTHORS:20161109-080512793 | |||||||||
| Persistent URL: | http://resolver.caltech.edu/CaltechAUTHORS:20161109-080512793 | |||||||||
| Official Citation: | W. Lai, A. F. Bastawros, W. Hong and S. J. Chung, "Fabrication and analysis of planar dielectric elastomer actuators capable of complex 3-D deformation," Robotics and Automation (ICRA), 2012 IEEE International Conference on, Saint Paul, MN, 2012, pp. 4968-4973. doi: 10.1109/ICRA.2012.6225079 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 71862 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Ruth Sustaita | |||||||||
| Deposited On: | 09 Nov 2016 18:17 | |||||||||
| Last Modified: | 04 Jan 2017 19:16 |
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