Modeling and characterization of stiffness controlled robotic legs using dielectric elastomers

Jason Newton; Jeffrey Morton; Jonathan Clark; William S. Oates

doi:10.1117/12.919870

3 April 2012 Modeling and characterization of stiffness controlled robotic legs using dielectric elastomers

Jason Newton, Jeffrey Morton, Jonathan Clark, William S. Oates

Proceedings Volume 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012; 83400Z (2012) https://doi.org/10.1117/12.919870
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2012, San Diego, California, United States

Abstract

A new robotic leg design is presented that utilizes dielectric elastomers (3M VHB 4910) to rapidly control stiffness changes for enhanced mobility and agility of a field demonstrated hexapod robot. A set of electromechanical test are utilized to obtain up to 92% reduction in stiffness that is controlled by an electric field. The results are compared to a finite deformation membrane finite element model to understand and improve field driven stiffness changes for real-time robotic applications.

Citation Download Citation

Jason Newton, Jeffrey Morton, Jonathan Clark, and William S. Oates "Modeling and characterization of stiffness controlled robotic legs using dielectric elastomers", Proc. SPIE 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012, 83400Z (3 April 2012); https://doi.org/10.1117/12.919870

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