Design and Test of a Cone Dielectric Elastomer Actuator Driving Hopping Robot

Dielectric elastomer actuators (DEAs) are increasingly recognized for their potential in robotic applications due to their ability to undergo significant deformation when subjected to an electric field. However, they are often limited by their low output power, which can make their integration into dynamic systems like hopping robots particularly challenging. This research optimizes the performance by introducing a cone DEA with a novel type of semi-diamond preload mechanism. This type of preload mechanism can meet the requirements of a negative-stiffness preload and a light weight. According to the experiments, the DEA can provide 3.62 mW power and its mass is only about 17.5 g. In order to drive hopping robots based on a cone DEA, this research introduces an energy accumulation mechanism coupled with a constant-torque cam for a hopping robot. The hopping robot weighs approximately 30.3 g and stands 10 cm tall in its upright position. Its energy accumulation mechanism involves a gear and cam transmission system, which is the key to store and release energy efficiently. The primary components of this mechanism include a torsion spring that stores mechanical energy when twisted, a constant-torque actuation cam that ensures the consistent application of torque during the energy storage phase, and a conical DEA that acts as an actuator. When the conical DEA is activated, it pushes a one-way clutch to the rocker, rotating the gear and cam mechanism and subsequently twisting the torsion spring to store energy. Upon release, the stored energy in the torsion spring is rapidly converted into kinetic energy, propelling the robot into the air. The experiments reveal that the designed DEA can drive the hopping robot by using the energy storage mechanism. Its hopping height is related to the pre-compression angle of the torsion spring. The DEA can drive the rigid hopping mechanism, and the maximum hopping height of the robot is up to 2.5 times its height. DEA hopping robots have obvious advantages, such as easy control, quietness and safety.