Electroactive polymer actuated tendon driven micro actuator for robotic application

Tendon driven actuators are getting mature in electroactive polymer (EAP) researches. Research and development of the dielectric elastomer (DE) actuator from EAP family, have produced significant progress for decades. Dielectric elastomer is used in this paper to model a micro actuator platform. The...

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Main Authors:	Billah, Md. Masum, Khan, Md. Raisuddin, Shafie, Amir Akramin, Akmeliawati, Rini
Format:	Conference or Workshop Item
Language:	English English English
Published:	Institute of Electrical and Electronics Engineers Inc. 2016
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/39269/ http://irep.iium.edu.my/39269/ http://irep.iium.edu.my/39269/ http://irep.iium.edu.my/39269/1/2014_INEC2014-INEC_0128_Manuscript_E.pdf http://irep.iium.edu.my/39269/4/INEC2014.pdf http://irep.iium.edu.my/39269/6/39269_Electroactive%20polymer_scopus.pdf

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recordtype	eprints
spelling	iium-392692018-07-23T07:34:03Z http://irep.iium.edu.my/39269/ Electroactive polymer actuated tendon driven micro actuator for robotic application Billah, Md. Masum Khan, Md. Raisuddin Shafie, Amir Akramin Akmeliawati, Rini T Technology (General) Tendon driven actuators are getting mature in electroactive polymer (EAP) researches. Research and development of the dielectric elastomer (DE) actuator from EAP family, have produced significant progress for decades. Dielectric elastomer is used in this paper to model a micro actuator platform. The parallel platform designing in this paper consists of the kinematics of the platform that is suited for micro structure of the robotic link. This may use for redundant manipulator or snake robot structure. DE is silicon artificial muscles that will actuated by applying voltage which perform a great actuation due to its linear large deflection. A remarkable amount of work has focused on delivering the feasibility of the robotic application of DE material. However, few commercial products equipped with polymer actuators have been introduced in the market, probably because most of the research has been dedicated either to discovering new actuation properties of the polymeric material. Therefore, this polymer is used to model the tendon driven parallel platform actuator for robotic application in this research. In this actuator design, both the upper and lower platforms are of configurations of equilateral triangles with DE cables attached close to the vertices. One DE cable attaches each of the vertices of the lower platform to the vertices directly above it on the upper platform. The three tendons thus enable the platform to exhibit 3 DOF. The dielectric polymer are attached with the three edges of the platforms that act like compression-tension cable because of their linear deformation characteristics. Therefore the platform of the DE actuator model is achieved in this research. This actuator can be used to develop redundant robot like snake robot or elephant trunk robot. Institute of Electrical and Electronics Engineers Inc. 2016-04-26 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/39269/1/2014_INEC2014-INEC_0128_Manuscript_E.pdf application/pdf en http://irep.iium.edu.my/39269/4/INEC2014.pdf application/pdf en http://irep.iium.edu.my/39269/6/39269_Electroactive%20polymer_scopus.pdf Billah, Md. Masum and Khan, Md. Raisuddin and Shafie, Amir Akramin and Akmeliawati, Rini (2016) Electroactive polymer actuated tendon driven micro actuator for robotic application. In: The 6th IEEE International Nanoelectronics Conference, 28-31 July 2014, Sapporo, japan. http://inec-2014.org/ 10.1109/INEC.2014.7460414
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	T Technology (General)
spellingShingle	T Technology (General) Billah, Md. Masum Khan, Md. Raisuddin Shafie, Amir Akramin Akmeliawati, Rini Electroactive polymer actuated tendon driven micro actuator for robotic application
description	Tendon driven actuators are getting mature in electroactive polymer (EAP) researches. Research and development of the dielectric elastomer (DE) actuator from EAP family, have produced significant progress for decades. Dielectric elastomer is used in this paper to model a micro actuator platform. The parallel platform designing in this paper consists of the kinematics of the platform that is suited for micro structure of the robotic link. This may use for redundant manipulator or snake robot structure. DE is silicon artificial muscles that will actuated by applying voltage which perform a great actuation due to its linear large deflection. A remarkable amount of work has focused on delivering the feasibility of the robotic application of DE material. However, few commercial products equipped with polymer actuators have been introduced in the market, probably because most of the research has been dedicated either to discovering new actuation properties of the polymeric material. Therefore, this polymer is used to model the tendon driven parallel platform actuator for robotic application in this research. In this actuator design, both the upper and lower platforms are of configurations of equilateral triangles with DE cables attached close to the vertices. One DE cable attaches each of the vertices of the lower platform to the vertices directly above it on the upper platform. The three tendons thus enable the platform to exhibit 3 DOF. The dielectric polymer are attached with the three edges of the platforms that act like compression-tension cable because of their linear deformation characteristics. Therefore the platform of the DE actuator model is achieved in this research. This actuator can be used to develop redundant robot like snake robot or elephant trunk robot.
format	Conference or Workshop Item
author	Billah, Md. Masum Khan, Md. Raisuddin Shafie, Amir Akramin Akmeliawati, Rini
author_facet	Billah, Md. Masum Khan, Md. Raisuddin Shafie, Amir Akramin Akmeliawati, Rini
author_sort	Billah, Md. Masum
title	Electroactive polymer actuated tendon driven micro actuator for robotic application
title_short	Electroactive polymer actuated tendon driven micro actuator for robotic application
title_full	Electroactive polymer actuated tendon driven micro actuator for robotic application
title_fullStr	Electroactive polymer actuated tendon driven micro actuator for robotic application
title_full_unstemmed	Electroactive polymer actuated tendon driven micro actuator for robotic application
title_sort	electroactive polymer actuated tendon driven micro actuator for robotic application
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2016
url	http://irep.iium.edu.my/39269/ http://irep.iium.edu.my/39269/ http://irep.iium.edu.my/39269/ http://irep.iium.edu.my/39269/1/2014_INEC2014-INEC_0128_Manuscript_E.pdf http://irep.iium.edu.my/39269/4/INEC2014.pdf http://irep.iium.edu.my/39269/6/39269_Electroactive%20polymer_scopus.pdf
first_indexed	2023-09-18T20:56:24Z
last_indexed	2023-09-18T20:56:24Z
_version_	1777410332967305216

Electroactive polymer actuated tendon driven micro actuator for robotic application

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