Flexible Parallel Link Mechanism Using Tube-Type Dielectric Elastomer Actuators
Changan Jiang*1,*4, Kentaro Takagi*2, Shinya Hirano*1, Tatsuya Suzuki*2, Shigeyuki Hosoe*1, Kazunobu Hashimoto*3, and Akitoshi Nozawa*3
*1RIKEN-SRK Collaboration Center for Human-Interactive Robot Research, RIKEN
2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan
*2Department of Mechanical Science and Engineering, Nagoya University
Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
*3Sumitomo Riko Company Limited
3-1 Higashi, Komaki 485-0831, Japan
*4Department of Mechanical Engineering, Ritsumeikan University
1-1-1 Noji-Higashi, Kusatsu 525-8577, Japan
Tube-type DEA based mechanism
In this research, tube-type dielectric elastomer actuators (DEAs) are employed to develop a 3-DOF flexible parallel link mechanism instead of traditional actuators such as linear motors and pneumatic cylinders. As an application case, the developed mechanism fixed with a marker pen is used to implement one stroke draw and human like draw of alphabets on a plane. According to the prototype of this mechanism, kinematics and inverse kinematics problems are considered. Based on the kinematics and inverse kinematics equations, the numerical simulations are done for searching the reachable area of the tip of the marker pen and checking the lengths of DEAs during drawing. Finally, experiment results show the practicability of the developed mechanism.
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