Kinematics analysis for tube-type DEAs based parallel link mechanism

Instead of traditional actuators, tube-type dielectric elastomer actuators (DEAs) based parallel link mechanism is proposed in this research. As an application case, the mechanism fixed with a marker pen is used to implement one stroke draw and human like draw of alphabets. According to the prototype of this mechanism, kinematics and inverse kinematics problems are solved. The numerical simulation results are done for searching the reachable area of the tip of the marker pen and checking the lengths of DEAs during drawing. Finally, simple experiment results show the practicability of the developed mechanism.