Research Progress of Electroactive Bistable Mechanism and Its Application in Soft Robots

doi:10.3901/JME.2020.19.043

Abstract

Abstract: The electroactive bistable mechanism (EBM) is capable of both the fast electro-induced deformation as artificial muscles in electroactive polymer and the precise positioning characteristics of the bistable mechanism at two positions. It is a new generation of mechanical mechanisms with active response capabilities. It has important application prospects in aerospace, medical rehabilitation, biomimetics and other robot fields. This research reviewed and analyzed the research status of EBM in the past 15 years. The EBM, can be classified as in-plane mode and out-of-planemode with respect to the motion direction, and according to the structure design, it can be classified as integrated and separated. By adding extra mechanisms, the bistable state can be extended to a tristable state, and the static actuation can be extended to a dynamic resonance actuation. Soft robot that built on an EBMhas more accurate displacement output and quicker motion response. It can achieve the functions of adaptive grasping of multiple objects, biomimetic tongue, variable stiffness, as well as the locomotion in land, underwater and air. The current EBM have many cutting-edge problems in design methods, control strategy, stable state regulation, and manufacturing technology, which require the multidisciplinary knowledge such as machinery, mechanics, and materials.

Key words: dielectric elastomer, bistable mechanism, soft robots

CLC Number:

TH11

LI Bo, SUN Wenjie, JIANG Lei, MA Fulei, CHEN Guimin. Research Progress of Electroactive Bistable Mechanism and Its Application in Soft Robots[J]. Journal of Mechanical Engineering, 2020, 56(19): 43-52.

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