Modeling and Simulation of Electroactive Polymer Robotic Actuator

Flexible snake robotic actuator inspired by the performance of snakes together with muscular and vertebrate, well in obstacle constrained rough environment and are capable of complex motions. These types of actuator possess a wide range of motion while also achieving complex geometrical configurations. Although, flexible structures that mimic muscular actuation like the snake links have been attempted in the literature by using shape memory alloys (SMAs), or strings and cables, light-weight, relatively powerdense dielectric electroactive polymers (EAP) can also be used in unison with a flexible snake robot actuator structure to provide actuation. This paper presents a theoretical and experimental study of the Dielectric EAP (DEAP) actuator for designing flexible snake robot actuator. DEAP is silicon artificial muscles that will actuated by applying voltage which perform a great actuation due to its linear large deflection. Preliminary efforts have been made to develop a prototype actuator design as well as learn about the EAP material properties through experimentation. Keywords—electroactive polymer; robot; actuator; muscle.