This paper reports on a linear actuation mechanism in the form of a parallel-crank mechanism (i.e., double-crank mechanism) articulated with two dielectric elastomer actuators working in parallel that are fabricated as a minimum energy structure. This structure is established by stretching a dielectric elastomer (DE) film (VHB4910) over a polyethylene terephthalate (PET) frame so that the energy released from the stretched DE film is stored in the frame as bending energy. The mechanism can output a translational motion under a driving voltage applied between two electrodes of the DE film. We have proposed visco-elastic models for the DE film and the frame of the actuator so that the mechanical properties of the actuator can more accurately be incorporated into the mechanism model. The proposed model accurately predicts the experimental frequency response of the mechanism at different voltages. In addition, an inversion-based feedforward controller was successfully implemented in order to further validate the proposed model for sensorless position control of the actuators and the parallel-crank mechanism articulated with these actuators.
A Compliant Translational Mechanism Based on Dielectric Elastomer Actuators
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received September 22, 2013; final manuscript received February 25, 2014; published online April 21, 2014. Assoc. Editor: Oscar Altuzarra.
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Huu Nguyen, C., Alici, G., and Mutlu, R. (April 21, 2014). "A Compliant Translational Mechanism Based on Dielectric Elastomer Actuators." ASME. J. Mech. Des. June 2014; 136(6): 061009. https://doi.org/10.1115/1.4027167
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