Tensegrity structures using dielectric elastomer cables

Abstract

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.