scholarly journals Dielectric elastomer actuators based on stretchable and self-healable hydrogel electrodes

2019 ◽  
Vol 6 (8) ◽  
pp. 182145 ◽  
Author(s):  
Yang Gao ◽  
Xiaoliang Fang ◽  
Danhquang Tran ◽  
Kuan Ju ◽  
Bo Qian ◽  
...  
Keyword(s):  
Electrical Conductivity ◽  
Dielectric Elastomer ◽  
Soft Robotics ◽  
Self Healing ◽  
High Electrical Conductivity ◽  
Relative Resistance ◽  
Resistance Change ◽  
Dielectric Elastomer Actuators ◽  
Compliant Electrodes ◽  
Pva Hydrogel

Dielectric elastomer actuator (DEA) based on dielectric elastomer holds promising applications in soft robotics. Compliant electrodes with large stretchability and high electrical conductivity are the vital components for the DEAs. In this study, a type of DEA was developed using carbon nanotube/polyvinyl alcohol (CNT/PVA) hydrogel electrodes. The CNT/PVA hydrogel electrodes demonstrate a stretchability up to 200% with a small relative resistance change of approximately 1.2, and a self-healing capability. The areal strain of the DEA based on the CNT/PVA hydrogel electrodes is more than 40%, much higher than the ones based on pure PVA electrodes.

scholarly journals Dielectric Elastomer Grippers

2021 ◽  
Vol 10 (5) ◽  
pp. 33-36
Author(s):  
Mills Patel ◽  
Rudrax Khamar ◽  
Akshat Shah ◽  
Tej shah ◽  
Bhavik Soneji
Keyword(s):  
Mechanical Properties ◽  
Power Generation ◽  
State Of The Art ◽  
Artificial Muscle ◽  
Dielectric Elastomer ◽  
Soft Robotics ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Working Principle ◽  
Soft Actuators

This paper appraisals state-of-the-art dielectric elastomer actuators (DEAs) and their forthcoming standpoints as soft actuators which have freshly been considered as a crucial power generation module for soft robots. DEs behave as yielding capacitors, expanding in area and attenuation in thickness when a voltage is applied. The paper initiates with the explanation of working principle of dielectric elastomer grippers. Here the operation of DEAs include both physics and mechanical properties with its characteristics, we have describe methods for modelling and its introductory application. In inclusion, the artificial muscle based on DEA concept is also formally presented. This paper also elaborates DEAs popular application such as- Soft Robotics, Robotics grippers and artificial muscles.

scholarly journals Dielectric Elastomer Fiber Actuators with Aqueous Electrode

Polymers ◽  
2021 ◽  
Vol 13 (24) ◽  
pp. 4310
Author(s):  
Keita Shimizu ◽  
Toshiaki Nagai ◽  
Jun Shintake
Keyword(s):  
Chloride Solution ◽  
Water Environment ◽  
Dielectric Elastomer ◽  
Soft Robotics ◽  
Successful Implementation ◽  
Driving Frequency ◽  
Silicone Tube ◽  
Linear Type ◽  
Dielectric Elastomer Actuators ◽  
Actuation Strain

Dielectric elastomer actuators (DEAs) are one of the promising actuation technologies for soft robotics. This study proposes a fiber-shaped DEA, namely dielectric elastomer fiber actuators (DEFAs). The actuator consisted of a silicone tube filled with the aqueous electrode (sodium chloride solution). Furthermore, it could generate linear and bending actuation in a water environment, which acts as the ground side electrode. Linear-type DEFA and bending-type DEFA were fabricated and characterized to prove the concept. A mixture of Ecoflex 00–30 (Smooth-On) and Sylgard 184 (Dow Corning) was employed in these actuators for the tube part, which was 75.0-mm long with outer and inner diameters of 6.0 mm and 5.0 mm, respectively. An analytical model was constructed to design and predict the behavior of the devices. In the experiments, the linear-type DEFA exhibited an actuation strain and force of 1.3% and 42.4 mN, respectively, at 10 kV (~20 V/µm) with a response time of 0.2 s. The bending-type DEFA exhibited an actuation angle of 8.1° at 10 kV (~20 V/µm). Subsequently, a jellyfish-type robot was developed and tested, which showed the swimming speed of 3.1 mm/s at 10 kV and the driving frequency of 4 Hz. The results obtained in this study show the successful implementation of the actuator concept and demonstrate its applicability for soft robotics.

scholarly journals Soft Robotic Gripper Based on Multi-Layers of Dielectric Elastomer Actuators

2021 ◽  
Vol 33 (4) ◽  
pp. 968-974
Author(s):  
Witchuda Thongking ◽  
Ardi Wiranata ◽  
Ayato Minaminosono ◽  
Zebing Mao ◽  
Shingo Maeda ◽  
...  
Keyword(s):  
Response Time ◽  
Low Cost ◽  
Fast Response ◽  
Dielectric Elastomer ◽  
Heel Strike ◽  
Soft Robotics ◽  
Artificial Muscles ◽  
Light Weight ◽  
Dielectric Elastomer Actuators ◽  
The Relationship

Dielectric elastomer actuators (DEAs) are a promising technology for soft robotics. The use of DEAs has many advantages, including light weight, resilience, and fast response for its applications, such as grippers, artificial muscles, and heel strike generators. Grippers are commonly used as grasping devices. In this study, we focus on DEA applications and propose a technology to expand the applicability of a soft gripper. The advantages of gripper-based DEAs include light weight, fast response, and low cost. We fabricated soft grippers using multiple DEA layers. The grippers successfully held or gripped an object, and we investigated the response time of the grippers and their angle characteristics. We studied the relationship between the number of DEA layers and the performance of our grippers. Our experimental results show that the multi-layered DEAs have the potential to be strong grippers.

scholarly journals Linear-Quadratic Regulator for Control of Multi-Wall Carbon Nanotube/Polydimethylsiloxane Based Conical Dielectric Elastomer Actuators

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 18
Author(s):  
Titus Mulembo ◽  
Waweru Njeri ◽  
Gakuji Nagai ◽  
Hirohisa Tamagawa ◽  
Keishi Naito ◽  
...  
Keyword(s):  
Carbon Nanotube ◽  
Rise Time ◽  
Electromechanical Coupling ◽  
Linear Quadratic Regulator ◽  
Fast Response ◽  
Dielectric Elastomer ◽  
Soft Robotics ◽  
Artificial Muscles ◽  
Linear Quadratic ◽  
Dielectric Elastomer Actuators

Conventional rigid actuators, such as DC servo motors, face challenges in utilizing them in artificial muscles and soft robotics. Dielectric elastomer actuators (DEAs) overcome all these limitations, as they exhibit complex and fast motions, quietness, lightness, and softness. Recently, there has been much focus on studies of the DEAs material’s non-linearity, the non-linear electromechanical coupling, and viscoelastic behavior of VHB and silicone-based conical DEAs having compliant electrodes that are based on graphite powder and carbon grease. However, the mitigation of overshoot that arises from fast response conical DEAs made with solid electrodes has not received much research focus. In this paper, we fabricated a conical configuration of multi-walled carbon nanotube/polydimethylsiloxane (MWCNT/PDMS) based DEAs with a rise time of 10 ms, and 50% peak overshoot. We developed a full feedback state-based linear-quadratic regulator (LQR) having Luenberger observer to mitigate the DEAs overshoot in both the voltage ON and OFF instances. The cone DEA’s model was identified and a stable and well-fitting transfer function with a fit of 94% was obtained. Optimal parameters Q = 70,000, R = 0.1, and Q = 7000, R = 0.01 resulted in the DEA response having a rise time value of 20 ms with zero overshoot, in both simulations and experiments. The LQR approach can be useful for the control of fast response DEAs and this would expand the potential use of the DEAs as artificial muscles in soft robotics.

scholarly journals Exploiting Stretchable Metallic Springs as Compliant Electrodes for Cylindrical Dielectric Elastomer Actuators (DEAs)

Micromachines ◽  
2017 ◽  
Vol 8 (11) ◽  
pp. 339 ◽  
Author(s):  
Chien-Hao Liu ◽  
Po-Wen Lin ◽  
Jui-An Chen ◽  
Yi-Tsung Lee ◽  
Yuan-Ming Chang
Keyword(s):  
Dielectric Elastomer ◽  
Dielectric Elastomer Actuators ◽  
Compliant Electrodes

scholarly journals Characterization and Optimization of Elastomeric Electrodes for Dielectric Elastomer Artificial Muscles

Materials ◽  
2020 ◽  
Vol 13 (23) ◽  
pp. 5542
Author(s):  
Guangqiang Ma ◽  
Xiaojun Wu ◽  
Lijin Chen ◽  
Xin Tong ◽  
Weiwei Zhao
Keyword(s):  
High Performance ◽  
Dielectric Elastomer ◽  
Elastomeric Matrix ◽  
Dielectric Elastomer Actuators ◽  
Lower Elongation ◽  
The Cost ◽  
Long Term Performance ◽  
Term Performance ◽  
Conductive Particles ◽  
Compliant Electrodes

Dielectric elastomer actuators (DEAs) are an emerging type of soft actuation technology. As a fundamental unit of a DEA, the characteristics of compliant electrodes play a crucial role in the actuation performances of DEAs. Generally, the compliant electrodes can be categorized into uncured and cured types, of which the cured one commonly involves mixing conductive particles into an elastomeric matrix before curing, thus demonstrating a better long-term performance. Along with the increasing proportion of conductive particles, the electrical conductivity increases at the cost of a stiffer electrode and lower elongation at break ratio. For different DEA applications, it can be more desirable to minimize the electrode stiffness or to maximize its conductivity. In examination of the papers published in recent years, few works have characterized the effects of elastomeric electrodes on the outputs of DEAs, or of their optimizations under different application scenarios. In this work, we propose an experimental framework to characterize the performances of elastomeric electrodes with different formulas based on the two key parameters of stiffness and conductivity. An optimizing method is developed and verified by two different application cases (e.g., quasi-static and dynamic). The findings and the methods developed in this work can offer potential approaches for developing high-performance DEAs.

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