Abstract
Recently, soft actuators have been paid attention to make robots lighter and more flexible than especially present industrial robots. Above all, the dielectric elastomer actuator is useful for the robot because of its relatively high output force and voltage driving. However, the dielectric elastomer actuator has several drawbacks that its stroke is small, and a characteristic that is extended when inputting a voltage. In this paper, by combining a joint system driven by antagonistic dielectric elastomer actuators and four-bar linkage, a 1 DOF manipulator which a has large range of motion is developed. In addition, the joint angle and force controllers of this manipulator are introduced, and those performance is verified experimentally.
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