A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle

Tao Wang; Yue Li; Yuanjie Li; Jinhua Zhang; Jun Hong; Michael Yu Wang

doi:10.1109/ICRA.2018.8461245

A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle

Tao Wang
, Yue Li
, Yuanjie Li
, Jinhua Zhang
, Jun Hong
, Michael Yu Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

2 Citations (Scopus)

Abstract

This work presents a novel variable stiffness structure consisting of a fiber-constrained dielectric elastomer tube filled with insulating oil. The tensile stiffness of the structure can be adjusted by voltages and its initial value can be customized according to the initial pre-stretch of the material. The structure has a dimension of ∼30 mm diameter × 50 mm length. A mathematical analysis is established to predict the initial tensile stiffness of the structure. The changes of the tensile stiffness of the structure under voltages are verified experimentally. The results show a decrease of the tensile stiffness of the device by 25% at 4 kV and the decrement is also related to the elongation of the structure. With different pre-stretches and dimensions of the dielectric elastomer, one can obtain devices with different variation ranges of tensile stiffness.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1553-1558
Number of pages	6
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8461245
Publication status	Published - 2018
Externally published	Yes
Event	IEEE International Conference on Robotics and Automation 2018 - Brisbane Convention & Exhibition Centre, Brisbane, Australia Duration: 21 May 2018 → 25 May 2018 https://icra2018.org/ (Website) https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding (Proceedings)

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	IEEE International Conference on Robotics and Automation 2018
Abbreviated title	ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18
Internet address	https://icra2018.org/ (Website) https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding (Proceedings)

Access to Document

10.1109/ICRA.2018.8461245

Cite this

Wang, T., Li, Y., Li, Y., Zhang, J., Hong, J., & Wang, M. Y. (2018). A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 1553-1558). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2018.8461245

Wang, Tao ; Li, Yue ; Li, Yuanjie et al. / A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, Institute of Electrical and Electronics Engineers, 2018. pp. 1553-1558 (Proceedings - IEEE International Conference on Robotics and Automation).

@inproceedings{8ac25db9f7a4457096e12c6b6b8b72db,

title = "A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle",

abstract = "This work presents a novel variable stiffness structure consisting of a fiber-constrained dielectric elastomer tube filled with insulating oil. The tensile stiffness of the structure can be adjusted by voltages and its initial value can be customized according to the initial pre-stretch of the material. The structure has a dimension of ∼30 mm diameter × 50 mm length. A mathematical analysis is established to predict the initial tensile stiffness of the structure. The changes of the tensile stiffness of the structure under voltages are verified experimentally. The results show a decrease of the tensile stiffness of the device by 25\% at 4 kV and the decrement is also related to the elongation of the structure. With different pre-stretches and dimensions of the dielectric elastomer, one can obtain devices with different variation ranges of tensile stiffness.",

author = "Tao Wang and Yue Li and Yuanjie Li and Jinhua Zhang and Jun Hong and Wang, \{Michael Yu\}",

note = "Funding Information: Research supported by the National Natural Science Foundation of China (No.51675413). Publisher Copyright: {\textcopyright} 2018 IEEE.; IEEE International Conference on Robotics and Automation 2018, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",

year = "2018",

doi = "10.1109/ICRA.2018.8461245",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "1553--1558",

booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",

address = "United States of America",

url = "https://icra2018.org/, https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding",

}

Wang, T, Li, Y, Li, Y, Zhang, J, Hong, J & Wang, MY 2018, A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Proceedings - IEEE International Conference on Robotics and Automation, IEEE, Institute of Electrical and Electronics Engineers, pp. 1553-1558, IEEE International Conference on Robotics and Automation 2018, Brisbane, Queensland, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8461245

A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle. / Wang, Tao; Li, Yue; Li, Yuanjie et al.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, Institute of Electrical and Electronics Engineers, 2018. p. 1553-1558 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

TY - GEN

T1 - A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle

AU - Wang, Tao

AU - Li, Yue

AU - Li, Yuanjie

AU - Zhang, Jinhua

AU - Hong, Jun

AU - Wang, Michael Yu

PY - 2018

Y1 - 2018

N2 - This work presents a novel variable stiffness structure consisting of a fiber-constrained dielectric elastomer tube filled with insulating oil. The tensile stiffness of the structure can be adjusted by voltages and its initial value can be customized according to the initial pre-stretch of the material. The structure has a dimension of ∼30 mm diameter × 50 mm length. A mathematical analysis is established to predict the initial tensile stiffness of the structure. The changes of the tensile stiffness of the structure under voltages are verified experimentally. The results show a decrease of the tensile stiffness of the device by 25% at 4 kV and the decrement is also related to the elongation of the structure. With different pre-stretches and dimensions of the dielectric elastomer, one can obtain devices with different variation ranges of tensile stiffness.

AB - This work presents a novel variable stiffness structure consisting of a fiber-constrained dielectric elastomer tube filled with insulating oil. The tensile stiffness of the structure can be adjusted by voltages and its initial value can be customized according to the initial pre-stretch of the material. The structure has a dimension of ∼30 mm diameter × 50 mm length. A mathematical analysis is established to predict the initial tensile stiffness of the structure. The changes of the tensile stiffness of the structure under voltages are verified experimentally. The results show a decrease of the tensile stiffness of the device by 25% at 4 kV and the decrement is also related to the elongation of the structure. With different pre-stretches and dimensions of the dielectric elastomer, one can obtain devices with different variation ranges of tensile stiffness.

UR - https://www.scopus.com/pages/publications/85063139186

U2 - 10.1109/ICRA.2018.8461245

DO - 10.1109/ICRA.2018.8461245

M3 - Conference Paper

AN - SCOPUS:85063139186

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 1553

EP - 1558

BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - IEEE International Conference on Robotics and Automation 2018

Y2 - 21 May 2018 through 25 May 2018

ER -

Wang T, Li Y, Li Y, Zhang J, Hong J, Wang MY. A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, Institute of Electrical and Electronics Engineers. 2018. p. 1553-1558. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8461245

A fluid-filled tubular dielectric elastomer variable stiffness structure inspired by the hydrostatic skeleton principle

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