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Micro robot using actuators based on dielectric elastomer

In this paper. we introduce a novel actuation method based on dielectric elastomer. Along with basic principles of actuation using dielectric elastomer a new design of actuator is discussed. The proposed design has advantageous features in reduction in size, speed of response, ease and ruggedness of operation. Using the actuator. a three-degree-of-freedom actuator module is developed, which can provide up-down. and two rotational degree-of-freedom motion. In the application of the proposed actuation method, a micro-robot mimicking the motion of an inchworm is developed.