Soft Actuator for Robotic Applications Based on Dielectric Elastomer: Quasi-Static Analysis

نویسندگان

  • Hyoukryeol Choi
  • SungMoo Ryew
  • Kwangmok Jung
  • H. M. Kim
  • Jae Wook Jeon
  • Jea-do Nam
  • Ryutaro Maeda
  • Kazuo Tanie
چکیده

In this paper a new soft actuator based on dielectric elastomer is proposed. The actuator, called ANTagonistically-driven Linear Actuator(ANTLA) has the musclelike characteristics capable of performing the motions such as forward/backward/controllable compliance. Due to its simplicity of configuration and ease of fabrication, it has the advantages to be scale– independently implemented in meso– or micro scale robotic applications. Its basic concepts are introduced and quasi–static analysis is performed with experimental verifications.

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تاریخ انتشار 2002