Electroactive Soft Robot And Analysis Of Dielectric Elastomer Actuator

With the development of science and technology,soft active material(SAM)has been widely used in engineering fields and daily life.Soft active material has unique properties such as good compliance,multi-function and multi-physical field effects.Due to these properties,soft active material has gained much attention by numerous researchers.As a kind of soft active material,dielectric elastomer(DE)has advantages like large strain,fast response,light weight,low cost and biological affinity.It has various applications including artificial muscle,sensor,soft robotics and so on.Based on the dielectric elastomer,this paper investigates three functional devices.Firstly,we design a kind of rolled actuator without rigid frame.We measure its performance by experiments and analyze the electromechanical behavior.Then,we research and fabricate a compliant senor that can measure compressive force as well as stretch deformation.We calibrate the performance of the sensor and study a method of capacitance measurement.Finally,we design a kind of soft robot inspired by manta.We investigate an actuation module employed to integrate robotic fish(Median and/or Paired Fin,MPF).We further analyze the performance and enhance the function of the robot.