Abstract
Soft actuators are essential components for soft robots. In this paper, a new fully compliant electroactive bistable actuator is developed based on minimum energy structures and the angle amplification mechanism, and it is coupled with the electroactive artificial muscle (Twisting & Coiled Polymer Fiber, TCPF) for electrical activation. Two TCPFs are arranged antagonistically to realize bistable snapping in the actuator that is capable of good discrete deformation stability. The experimental results verify the design purpose and repeatable actuation positioning is attained in the bistable snapping process. This actuator offers a potential advantage for soft robots of binary motion.
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Jiang, L., Zhang, Y., Ma, W., Chen, G., Li, B. (2021). Fully Compliant Electroactive Bistable Actuator Utilizing Twisting and Coiled Artificial Muscle. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_19
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DOI: https://doi.org/10.1007/978-3-030-89095-7_19
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