Rotary Motion and Manipulation Using Electro-Hydraulic Actuator With Asymmetric Electrodes

Authors
Kim, SohyunCha, Youngsu
Issue Date
2020-07
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE ROBOTICS AND AUTOMATION LETTERS, v.5, no.3, pp.3945 - 3951
Abstract
Soft robotics require unique and novel actuators for various applications. Therefore, a novel soft electro-hydraulic actuator is proposed and its ability to manipulate a spherical object on an active plate is demonstrated. The proposed actuator has two actuation parts with asymmetric electrodes. Two types of deformations are created by applying voltages to the asymmetric electrodes of the actuator. By using various deformations from four electro-hydraulic actuators, an active plate is realized. The active plate can exhibit eight different inclinations that, allow a ball to be stopped in a desired target location. The results demonstrate that the ball's movement in a circular path may be maintained using active plate. Further, the ball can stop at the desired target points.
Keywords
DIELECTRIC ELASTOMERS; SOFT ROBOTICS; DIELECTRIC ELASTOMERS; SOFT ROBOTICS; Motion control; soft sensors and actuators; hydraulic; pneumatic actuators
ISSN
2377-3766
URI
https://pubs.kist.re.kr/handle/201004/118435
DOI
10.1109/LRA.2020.2983693
Appears in Collections:
KIST Article > 2020
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