Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot

Abstract

Dragonflies fly in a unique way compared to other hovering insects. Soft robotics are used to learn more about their flapping motion. An at-scale dragonfly robot is designed around Dielectric Elastomer Actuators that compress and expand 0.5mm. With this knowledge, MATLAB was used to predict the linkage sizes that control the wing stroke movement.

Using the values calculated in MATLAB, Solidworks was used to design a soft robot that mimics a dragonfly’s flight. Motion analysis was then used to map the movements of the robot. This analysis showed an angular wing displacement of 93⁰ in the θ direction. The wing hinge (φ direction) moves 90⁰ on the upstroke and is stopped by a limiting piece to 40⁰ on the downstroke.