Digital polymer motor for robotic applications

Author

Choi, H.R. ; Jung, K.M. ; Kwak, J.W. ; Lee, S.W. ; Kim, H.M. ; Jeon, J.W. ; Nam, J.D.

Author_Institution

Sch. of Mech. Eng., Sung Kyun Kwan Univ., Suwon, South Korea

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

1857

Abstract

In this paper we present a packaged actuator to be applied for micro- and macro- robotic applications. The actuator is based on polymer dielectrics, and intrinsically has muscle-like characteristics capable of performing motions such as forward/backward/controllable compliance. The actuator is featured in several aspects such as simplicity and lightness in weight, cost-effectiveness, multiple DOF-actuation, and digital interface. In this paper, its basic concepts are briefly introduced and the issues about design, fabrication and applications are discussed.

Keywords

compliance control; electric actuators; linear motors; microrobots; backward motion; controllable compliance motion; digital interface; digital polymer motor; forward motion; macrorobotics; microrobotics; multiple DOF actuation; muscle like characteristics; packaged actuator; polymer dielectrics; Actuators; Application software; Dielectrics; Electrodes; Electrostatics; Fabrication; Packaging; Polymer gels; Protection switching; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241865

Filename

1241865