In this paper, tensegrity structures with active cables made of ribbon-like dielectric elastomer actuators (DEAs) are presented. The deformation of structure can be controlled by applying high voltages to the DEAs. The DEA-tensegrities proposed here are expected to function as a building block for soft robotic systems. For the DEAs, an acrylic elastomer (3M, VHB4905) and a conductive elastomer (Adhesives Research, Arcare90336) are used as a dielectric and an electrode material, respectively. For the rods, acrylic (poly(methyl methacrylate)(PMMA)) plate is employed. In the paper, the experimental results obtained through characterization of DEA-tensegrities are shown and discussed.
Robotic systems based on tensegrity structures have been widely studied in recent years due to their unique characteristics such as lightweight property, deformability, and modularity. These features are originated from the structural configuration of tensegrity that consists of rigid rods connected and stabilized by pre-stretched elastic cables. However, most of the tensegrity robotic systems are driven by electromagnetic motors, which can make their structure bulky and complicated. In this contribution, we present tensegrity structures using dielectric elastomer actuators (DEAs). In these active tensegrity structures, DEAs are used as the elastic cables, allowing them to generate voltage-controlled deformations. Thanks to the multifunctional nature of DEAs, this configuration also enables the sensing of deformations. Given the large actuation strokes and high compliance of DEAs, the DE-tensegrity is expected to become a multifunctional building element for soft robotic systems. In order to prove the concept, we fabricate a DE-tensegrity using an acrylic elastomer (3M, VHB4905) and acrylic (poly(methyl methacrylate)(PMMA)) plate that are used for DEAs and the rigid rods, respectively. A conductive acrylic elastomer is used as the electrodes of DEAs. We characterize the active tensegrity to clarify the actuation and sensing performance and discuss the results.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.