Microrobot actuated by soft actuators based on dielectric elastomer
Microrobot actuated by soft actuators based on dielectric elastomer
复制标题
由基于介电弹性体的软执行器驱动的微型机器人
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
K. Tanie
中科院分区：
文献类型：
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作者：
Hyoukryeol Choi;S. Ryew;K. Jung;Hunmo Kim;J. Jeon;J. Nam;R. Maeda;K. Tanie
在本文中，提出了一种模仿环节动物（如蚯蚓）的微型机器人。该机器人由多个环形部分组成。每个节段能够分别产生平移/俯仰/上下等三个自由度运动，由三个沿圆周方向等距分布的软执行器驱动。这种软致动器称为对抗驱动线性致动器（ANTLA），基于聚合物电介质，具有类似肌肉的特性，能够执行向前/向后/可控顺应性等运动。本文简要回顾了执行器的基本概念，并通过演示详细解释了机器人，包括环形部分。
In this paper a microrobot, mimicking annelid animals like the earthworm, is presented. The robot is composed of several ring-like segments. Each segment is able to generate three degree-of-freedom motions such as pan/tilt/up-down respectively, and it is actuated by three soft actuators located equidistantly along the circumferential direction. The soft actuator, called antagonistically-driven linear actuator (ANTLA), is based on polymer dielectrics and has muscle-like characteristics capable of performing motions such as forward/backward/controllable compliance. In this paper, the basic concept of the actuator is briefly reviewed and the robot, including the ring-like segment, is explained in detail with demonstrations.