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Actuators 2014, 3(3), 245-269;

Modeling of a Dielectric Elastomer Bender Actuator

University of Pennsylvania, 220 South 33rd Street, 107 Towne Building, Philadelphia, PA 19104,USA
Author to whom correspondence should be addressed.
Received: 1 January 2014 / Revised: 17 July 2014 / Accepted: 21 July 2014 / Published: 28 July 2014
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The current smallest self-contained modular robot uses a shape memory alloy, which is inherently inefficient, slow and difficult to control. We present the design, fabrication and demonstration of a module based on dielectric elastomer actuation. The module uses a pair of bowtie dielectric elastomer actuators in an agonist-antagonist configuration and is seven times smaller than previously demonstrated. In addition, we present an intuitive model for the bowtie configuration that predicts the performance with experimental verification. Based on this model and the experimental analysis, we address the theoretical limitations and advantages of this antagonistic bender design relative to other dielectric elastomer actuators. View Full-Text
Keywords: dielectric elastomer actuator; modular robot dielectric elastomer actuator; modular robot

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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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White, P.; Latscha, S.; Yim, M. Modeling of a Dielectric Elastomer Bender Actuator. Actuators 2014, 3, 245-269.

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