Flexible Parallel Link Mechanism Using Tube-Type Dielectric Elastomer Actuators

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.