Electroactive Polymer (EAP) Actuation of Mechanisms and Robotic Devices

Abstract

Actuators are responsible to the operative capability of manipulation systems and robots. In recent years, electroactive polymers (EAP) have emerged as potential alternative to conventional actuators. These materials have characteristic similarities to biological muscles, making them very attractive once their actuation force is improved. Under a NASA task, a study is underway to develop EAP actuators for planetary applications. Two types of EAP materials are employed including the bending ion-exchange membranes and longitudinally actuated elastomers. Experiments at low temperatures and vacuum showed that the ionic-type EAP responds effectively at cryovac conditions. This capability enabled a series of new potential space applications that are currently being investigated. Some of the devices and mechanisms that are considered include dust wiper and miniature robotic arm with 4-fingers gripper. The EAP dust wiper is developed for the Nanorover, which will be launch to an asteroid in the year 2002 on the joint Japan/USA MUSES-C mission.