Self-Assembled 3D Actuator Using the Resilience of an Elastomeric Material
Self-folding technologies have been studied by many researchers for applications to various engineering fields. Most of the self-folding methods that use the physical properties of materials require complex preparation, and usually take time to complete. In order to solve these problems, we focus on...
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doaj-dfd759731ae645f38bca6e94115e318a2020-11-25T01:32:06ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442020-01-01610.3389/frobt.2019.00152498457Self-Assembled 3D Actuator Using the Resilience of an Elastomeric MaterialNaoki Hashimoto0Hiroki Shigemune1Hiroki Shigemune2Ayato Minaminosono3Shingo Maeda4Hideyuki Sawada5Department of Applied Physics, Waseda University, Tokyo, JapanDepartment of Applied Physics, Waseda University, Tokyo, JapanDivision of Mechanical Engineering, Shibaura Institute of Technology, Tokyo, JapanDivision of Mechanical Engineering, Shibaura Institute of Technology, Tokyo, JapanDivision of Mechanical Engineering, Shibaura Institute of Technology, Tokyo, JapanDepartment of Applied Physics, Waseda University, Tokyo, JapanSelf-folding technologies have been studied by many researchers for applications to various engineering fields. Most of the self-folding methods that use the physical properties of materials require complex preparation, and usually take time to complete. In order to solve these problems, we focus on the elasticity of a material, and propose a model for forming a 3D structure using its characteristics. Our proposed model achieves high-speed and high-precision self-folding with a simple structure, by attaching rigid frames to a stretchable elastomer. The self-folded structure is applied to introduce a self-assembled actuator by exploiting a dielectric elastomer actuator (DEA). We develop the self-assembled actuator driven with the voltage application by attaching stretchable electrodes on the both side of the elastomer. We attempt several experiments to investigate the basic characteristics of the actuator. We also propose an application of the self-assembled actuator as a gripper based on the experimental results. The gripper has three joints with the angle of 120°, and successfully grabs objects by switching the voltage.https://www.frontiersin.org/article/10.3389/frobt.2019.00152/fullsoft roboticsdielectric elastomer actuatorself-folding methodself-assembled actuatorgripper |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Naoki Hashimoto Hiroki Shigemune Hiroki Shigemune Ayato Minaminosono Shingo Maeda Hideyuki Sawada |
spellingShingle |
Naoki Hashimoto Hiroki Shigemune Hiroki Shigemune Ayato Minaminosono Shingo Maeda Hideyuki Sawada Self-Assembled 3D Actuator Using the Resilience of an Elastomeric Material Frontiers in Robotics and AI soft robotics dielectric elastomer actuator self-folding method self-assembled actuator gripper |
author_facet |
Naoki Hashimoto Hiroki Shigemune Hiroki Shigemune Ayato Minaminosono Shingo Maeda Hideyuki Sawada |
author_sort |
Naoki Hashimoto |
title |
Self-Assembled 3D Actuator Using the Resilience of an Elastomeric Material |
title_short |
Self-Assembled 3D Actuator Using the Resilience of an Elastomeric Material |
title_full |
Self-Assembled 3D Actuator Using the Resilience of an Elastomeric Material |
title_fullStr |
Self-Assembled 3D Actuator Using the Resilience of an Elastomeric Material |
title_full_unstemmed |
Self-Assembled 3D Actuator Using the Resilience of an Elastomeric Material |
title_sort |
self-assembled 3d actuator using the resilience of an elastomeric material |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Robotics and AI |
issn |
2296-9144 |
publishDate |
2020-01-01 |
description |
Self-folding technologies have been studied by many researchers for applications to various engineering fields. Most of the self-folding methods that use the physical properties of materials require complex preparation, and usually take time to complete. In order to solve these problems, we focus on the elasticity of a material, and propose a model for forming a 3D structure using its characteristics. Our proposed model achieves high-speed and high-precision self-folding with a simple structure, by attaching rigid frames to a stretchable elastomer. The self-folded structure is applied to introduce a self-assembled actuator by exploiting a dielectric elastomer actuator (DEA). We develop the self-assembled actuator driven with the voltage application by attaching stretchable electrodes on the both side of the elastomer. We attempt several experiments to investigate the basic characteristics of the actuator. We also propose an application of the self-assembled actuator as a gripper based on the experimental results. The gripper has three joints with the angle of 120°, and successfully grabs objects by switching the voltage. |
topic |
soft robotics dielectric elastomer actuator self-folding method self-assembled actuator gripper |
url |
https://www.frontiersin.org/article/10.3389/frobt.2019.00152/full |
work_keys_str_mv |
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