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Dielectric elastomer minimum energy structure with a unidirectional actuation for a soft crawling robot: Design, modeling, and kinematic study

Wenjie Sun,Huwei Liang,Fei Zhang,Haitian Wang,Yanjun Lu,Bo Li,Guimin Chen

International Journal of Mechanical Sciences（2023）

Cited 7|Views19
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Abstract
•A minimal energy structure actuator, featuring unidirectional strain is developed.•A peristaltic soft robot is design using the above novel actuator.•A theoretical model is established to characterize mechanics and kinematics.•The influence of design parameters is studied for stable locomotion.
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Key words
Dielectric elastomer,Minimum energy-based structure,Soft robots,Resonance frequency,Instability
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