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Members Made of Elastoplastic Material01:19

Members Made of Elastoplastic Material

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The behavior of elastoplastic materials under bending stresses, particularly in structural members with rectangular cross-sections, is crucial for predicting material responses and understanding failure modes. Initially, when a bending moment is applied, the stress distribution across the section follows Hooke's Law and is linear and elastic. This distribution means the stress increases from the neutral axis to the maximum at the outer fibers, up to the elastic limit.
As the bending moment...
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A Super-Lightweight and Soft Manipulator Driven by Dielectric Elastomers.

Zhiguang Xing1, Junming Zhang1, David McCoul2

  • 1Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China.

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|January 29, 2020
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Researchers developed a lightweight robotic manipulator using dielectric elastomer actuators (DEAs). This innovative design achieves large, continuous deformation, crucial for sensitive applications like space manipulation.

Keywords:
dielectric elastomer actuatorssoft actuatorssoft manipulatorssoft robotics

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Area of Science:

  • Robotics
  • Materials Science
  • Actuation Systems

Background:

  • Robot weight is a critical factor in applications like space and untethered mobile manipulation.
  • Existing robotic manipulators can be too heavy for weight-sensitive tasks.

Purpose of the Study:

  • To design and develop a super lightweight robotic manipulator.
  • To demonstrate large, continuous deformation capabilities in a compact robotic arm.

Main Methods:

  • Designed a five-module, unilaterally bending serial manipulator (32 cm length, 18 g weight).
  • Utilized dielectric elastomer actuators (DEAs) for driving the manipulator modules.
  • Employed a spatially closed tubular structure within each module for large deformation and torsional rigidity.
  • Implemented independent, multichannel high-voltage power supply for continuous global deformation control.
  • Based the design on the principles of column buckling.

Main Results:

  • The manipulator achieved a weight of only 18 g and a length of 32 cm.
  • Demonstrated the ability to undergo large, continuous deformations.
  • Successfully navigated an L-shaped pipe, showcasing its dexterity.
  • Validated the feasibility of using spatial DEAs for super lightweight robotic systems.

Conclusions:

  • Robotic manipulators driven by spatial DEAs can be exceptionally lightweight.
  • The proposed design enables significant, continuous deformation capabilities.
  • This technology holds promise for weight-critical robotic applications.