000201738 001__ 201738
000201738 005__ 20190416055542.0
000201738 0247_ $$2doi$$a10.1109/TMECH.2014.2359337
000201738 022__ $$a1083-4435
000201738 02470 $$2ISI$$a000360831900001
000201738 037__ $$aARTICLE
000201738 245__ $$aA Foldable Antagonistic Actuator
000201738 269__ $$a2015
000201738 260__ $$aPiscataway$$bInstitute of Electrical and Electronics Engineers$$c2015
000201738 300__ $$a12
000201738 336__ $$aJournal Articles
000201738 520__ $$aWe report on an actuator based on dielectric elastomers that is capable of antagonistic actuation and passive folding. This actuator enables foldability in robots with simple structures. Unlike other antagonistic dielectric elastomer devices, our concept uses elastic hinges to allow the folding of the structure, which also provides an additional design parameter. To validate the actuator concept through a specific application test, a foldable elevon actuator with outline size of 70 mm × 130 mm is developed with angular displacement range and torque specifications matched to a 400-mm wingspan micro-air vehicle (MAV) of mass 130 g. A closed-form analytical model of the actuator is constructed, which was used to guide the actuator design. The actuator consists of 125-μm-thick silicone membranes as the dielectric elastomers, 0.2mm-thick fiberglass plate as the frame structure, and 50-μm-thick polyimide as the elastic hinge. We measured voltage-controllable angular displacement up to ±26° and torque of 2720 mN · mm at 5 kV, with good agreement between the model and the measured data. Two elevon actuators are integrated into the MAV, which was successfully flown, with the foldable actuators providing stable and well-controlled flight. The controllability was quantitatively evaluated by calculating the correlation between the control signal and the MAV motion, with a correlation in roll axis of over 0.7 measured during the flights, illustrating the high performance of this foldable actuator.
000201738 6531_ $$aDielectric Elastomer Actuators
000201738 6531_ $$aArtificial Muscles
000201738 6531_ $$aSoft Robotics
000201738 6531_ $$aMicro Air Vehicle
000201738 6531_ $$aFoldable Robots
000201738 6531_ $$aAerial Robotics
000201738 700__ $$0245641$$aShintake, Jun$$g212064
000201738 700__ $$0241188$$aRosset, Samuel$$g127048
000201738 700__ $$0245554$$aSchubert, Bryan Edward$$g213302
000201738 700__ $$0240742$$aFloreano, Dario$$g111729
000201738 700__ $$0240376$$aShea, Herbert$$g162368
000201738 773__ $$j20$$k5$$q1997-2008$$tIEEE/ASME Transactions on Mechatronics
000201738 8564_ $$s1418795$$uhttps://infoscience.epfl.ch/record/201738/files/Jun_Shintake_A_Foldable_Antagonistic_Actuator.pdf$$yPreprint$$zPreprint
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000201738 909C0 $$0252409$$pNCCR-ROBOTICS$$xU12367
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000201738 937__ $$aEPFL-ARTICLE-201738
000201738 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
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