Modeling and Characterizing Two Dielectric Elastomer Folding Actuators for Origami-Inspired Robot

摘要

Origami-inspired robots are automated machines that achieve deformation and function through folding. This letter models and characterizes two dielectric elastomer folding actuators, and proposes a new method for driving origami-inspired robots. Multilayer bending dielectric elastomer actuators (MBDEAs) and minimum energy structural dielectric elastomer actuators (MESDEAs) are placed at the creases to drive a rigid origami-inspired robot joint. We establish an analytical model of MBDEAs based on beam bending theory. This model establishes the relationships between the deformation angle and output moment of the MBDEA and the input electric field intensity according to the design parameters. In addition, a design model of MESDEAs with the rectangular hollow area is presented for the equilibrium deformation angle and maximum output moment. The analytical model of MBDEAs for the deformation angle and the design model of MESDEAs are both preliminarily verified by experiments. Finally, we realize the drive of the joint based on MBDEAs and MESDEAs. The design and model are evaluated through experiments. This work paves the way for subsequent motion control of origami-inspired robots and further expands the application fields of dielectric elastomer actuators (DEAs).