Abstract
Dielectric elastomer (DE) is a soft material that can deform to a large degree under the action of an electric field. In this paper, multilayer DE films were stacked in parallel to prepare a 20-layer dielectric elastomer actuator (DEA). This DEA could provide a peak output force of 30 N, which significantly improves the driving performance of the DEA and provides conditions for large load driving of the DEA. As a new driving method, the DEA was applied to a jumping robot, and the heavy-weight robot accomplished jumping motion after several cycles of energy storage.
Highlights
Jumping robots can jump over obstacles or trenches of their own size, and even those several times their size
This paper presents a jumping robot driven by a dielectric elastomer actuator (DEA)
According to the working principle of dielectric elastomer (DE), through analysis of the force of the diamond four-bar linkage mechanism, a DEA was designed and manufactured, and it was verified that the output force of the multilayer parallel stacked DEA increased with the number of layers
Summary
Jumping robots can jump over obstacles or trenches of their own size, and even those several times their size. Compared with wheeled or tracked mobile robots [1,2,3], they have better terrain adaptation and autonomous motion capabilities [4] and have broad application prospects in deep space exploration, terrain survey, and post-disaster search and rescue. The key to these jumping robots is how to achieve the jumping motion, and several methods for this have been developed. Saifullah et al presented a new design for settlement of the take-off angle and steering mechanism for a combustion piston-type hopping robot [10]
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