Soft Freestanding Planar Artificial Muscle Based on Dielectric Elastomer Actuator

2018 ◽  
Vol 85 (5) ◽  
Author(s):  
Lei Qin ◽  
Jiawei Cao ◽  
Yucheng Tang ◽  
Jian Zhu
Keyword(s):  
Structural Complexity ◽  
Artificial Muscle ◽  
High Energy ◽  
Dielectric Elastomer ◽  
Tactile Feedback ◽  
High Energy Density ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Electromechanical Instability ◽  
Compression Springs

Dielectric elastomer actuators (DEAs) exhibit interesting muscle-like attributes including large voltage-induced deformation and high energy density, thus can function as artificial muscles for soft robots/devices. This paper focuses on soft planar DEAs, which have extensive applications such as artificial muscles for jaw movement, stretchers for cell mechanotransduction, and vibration shakers for tactile feedback, etc. Specifically, we develop a soft planar DEA, in which compression springs are employed to make the entire structure freestanding. This soft freestanding actuator can achieve both linear actuation and turning without increasing the size, weight, or structural complexity, which makes the actuator suitable for driving a soft crawling robot. Furthermore, its simple structure and homogeneous deformation allow for analytic modeling, which can be used to interpret the large voltage-induced deformation and interesting mechanics phenomenon (i.e., wrinkling and electromechanical instability). A preliminary demonstration showcases that this soft planar actuator can be employed as an artificial muscle to drive a soft crawling robot.

scholarly journals Design, Manufacturing, and Characterization of Thin, Core-Free, Rolled Dielectric Elastomer Actuators

Actuators ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 69
Author(s):  
Julian Kunze ◽  
Johannes Prechtl ◽  
Daniel Bruch ◽  
Bettina Fasolt ◽  
Sophie Nalbach ◽  
...  
Keyword(s):  
Energy Density ◽  
High Energy ◽  
Dielectric Elastomer ◽  
High Energy Density ◽  
Artificial Muscles ◽  
Hollow Core ◽  
Dielectric Elastomer Actuators ◽  
Mass Load ◽  
Silicone Film

In this work, we develop a coreless rolled dielectric elastomer actuator (CORDEA) to be used as artificial muscles in soft robotic structures. The new CORDEA concept is based on a 50 µm silicone film with screen-printed electrodes made of carbon black suspended in polydimethylsiloxane. Two printed silicone films are stacked together and then tightly rolled in a spiral-like structure. Readily available off-the-shelf components are used to implement both electrical and mechanical contacts. A novel manufacturing process is developed to enable the production of rolled actuators without a hollow core, with a focus on simplicity and reliability. In this way, actuator systems with high energy density can be effectively achieved. After presenting the design, an experimental evaluation of the CORDEA electromechanical behavior is performed. Finally, actuator experiments in which the CORDEA is pre-loaded with a mass load and subsequently subject to cycling voltage are illustrated, and the resulting performance is discussed.

scholarly journals Analysis on Mechanical Behavior of Acrylate Dielectric Elastomers

2019 ◽  
Vol 804 ◽  
pp. 59-62
Author(s):  
Min Wei ◽  
Wei Li ◽  
Zhen Qiang Song ◽  
Shijie Zhu
Keyword(s):  
Energy Density ◽  
Mechanical Behavior ◽  
Artificial Muscle ◽  
Response Speed ◽  
Fast Response ◽  
High Energy ◽  
Dielectric Elastomer ◽  
High Energy Density ◽  
Flexible Robot ◽  
Deformation Ability

The dielectric elastomer (DE) has the advantages of large deformation ability, fast response speed, low price and high energy density. Therefore, DE has great prospects as artificial muscle and flexible robot. The purpose of the research is to clarify the mechanical behavior for acrylate dielectric elastomer by tensile test, fatigue test and viscoelasticity measurement.

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 Soft, tough, and fast polyacrylate dielectric elastomer for non-magnetic motor

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Li-Juan Yin ◽  
Yu Zhao ◽  
Jing Zhu ◽  
Minhao Yang ◽  
Huichan Zhao ◽  
...  
Keyword(s):  
High Performance ◽  
Crosslinking Agent ◽  
High Energy ◽  
Dielectric Elastomer ◽  
High Energy Density ◽  
Dielectric Elastomers ◽  
Dielectric Elastomer Actuators ◽  
Response Bandwidth ◽  
Electrically Actuated ◽  
Soft Actuators

AbstractDielectric elastomer actuators (DEAs) with large electrically-actuated strain can build light-weight and flexible non-magnetic motors. However, dielectric elastomers commonly used in the field of soft actuation suffer from high stiffness, low strength, and high driving field, severely limiting the DEA’s actuating performance. Here we design a new polyacrylate dielectric elastomer with optimized crosslinking network by rationally employing the difunctional macromolecular crosslinking agent. The proposed elastomer simultaneously possesses desirable modulus (~0.073 MPa), high toughness (elongation ~2400%), low mechanical loss (tan δm = 0.21@1 Hz, 20 °C), and satisfactory dielectric properties ($${\varepsilon }_{{{{{{\rm{r}}}}}}}$$ ε r  = 5.75, tan δe = 0.0019 @1 kHz), and accordingly, large actuation strain (118% @ 70 MV m−1), high energy density (0.24 MJ m−3 @ 70 MV m−1), and rapid response (bandwidth above 100 Hz). Compared with VHBTM 4910, the non-magnetic motor made of our elastomer presents 15 times higher rotation speed. These findings offer a strategy to fabricate high-performance dielectric elastomers for soft actuators.

A Co-Axial Dielectric Elastomer Actuator

2008 ◽  
Vol 61 ◽  
pp. 81-84 ◽  
Author(s):  
Hristiyan Stoyanov ◽  
Guggi Kofod ◽  
Reimund Gerhard
Keyword(s):  
High Energy ◽  
Dip Coating ◽  
Dielectric Elastomer ◽  
Thin Layers ◽  
High Energy Density ◽  
Dielectric Elastomer Actuator ◽  
Dielectric Elastomer Actuators ◽  
Active Layers ◽  
Potential Applications ◽  
Actuation Strain

Dielectric elastomer actuators based on Maxwell-stress induced deformation, are considered for many potential applications where high actuation strain and high energy density are required. They usually rely on a planar actuator configuration, however, a string-like actuator would be less bulky, and more versatile for several applications. In this paper, a co-axial dielectric elastomer actuator that produces relatively high actuation strain is presented. The actuator is manufactured through alternating dip-coating steps with insulating and conductive thin layers. A soluble thermoplastic block-copolymer, SEBS(poly-(styrene-ethylene-butylene-styrene), is used for the dielectric layers as well as for the host material of the compliant electrodes. Electrical conductivity of the electrodes is achieved by incorporation of conductive carbon-black particles in the elastomer matrix. Actuators with a single and with multiple active layers (up to three) have been successfully demonstrated. This geometry is advantageous in that it is compact and can be bundled easily, and should therefore be practical in applications such as “artificial muscles”.

Modeling and parameter identification of thin, tightly rolled dielectric elastomer actuators

2021 ◽  
Author(s):  
Johannes Prechtl ◽  
Julian Kunze ◽  
Giacomo Moretti ◽  
Daniel Bruch ◽  
Stefan Seelecke ◽  
...  
Keyword(s):  
Mechanical Response ◽  
Mathematical Structure ◽  
High Energy ◽  
Dielectric Elastomer ◽  
Lumped Parameter Model ◽  
High Energy Density ◽  
Dielectric Elastomer Actuators ◽  
Lumped Parameter ◽  
The Many ◽  
And Control

Abstract Due to their large deformation, high energy density, and high compliance, dielectric elastomer actuators (DEAs) have found a number of applications in several areas of mechatronics and robotics. Among the many types of DEAs proposed in the literature, rolled DEAs (RDEAs) represent one of the most popular configurations. RDEAs can be effectively used as compact muscle-like actuators for soft robots, since they allow eliminating the need for external motors or compressors while providing at the same time a flexible and lightweight structure with self-sensing capabilities. To effectively design and control complex RDEA-driven systems and robots, accurate and numerically efficient mathematical models need to be developed. In this work, we propose a novel lumped-parameter model for silicone-based, thin and tightly rolled DEAs. The model is grounded on a free-energy approach, and permits to describe the electro-mechanically coupled response of the transducer with a set of nonlinear ordinary differential equations. After deriving the constitutive relationships, the model is validated by means of an extensive experimental campaign, conducted on three RDEA specimens having different geometries. It is shown how the developed model permits to accurately predict the effects of several parameters (external load, applied voltage, actuator geometry) on the RDEA electro-mechanical response, while maintaining an overall simple mathematical structure.

Conductive, self-healing and recyclable electrodes for dielectric elastomer generator with high energy density

2022 ◽  
Vol 429 ◽  
pp. 132258
Author(s):  
Wenpeng Zang ◽  
Xueying Liu ◽  
Junjie Li ◽  
Yingjie Jiang ◽  
Bing Yu ◽  
...  
Keyword(s):  
Energy Density ◽  
High Energy ◽  
Dielectric Elastomer ◽  
High Energy Density ◽  
Self Healing

scholarly journals Implementation of Soft-Lithography Techniques for Fabrication of Bio-Inspired Multi-Layer Dielectric Elastomer Actuators with Interdigitated Mechanically Compliant Electrodes

Actuators ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 73 ◽  
Author(s):  
Mert Corbaci ◽  
Wayne Walter ◽  
Kathleen Lamkin-Kennard
Keyword(s):  
Soft Lithography ◽  
Skeletal Muscles ◽  
Actuation Voltage ◽  
Transition Process ◽  
Humanoid Robots ◽  
Dielectric Elastomer ◽  
Industrial Robots ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Soft Actuators

Advancements in software engineering have enabled the robotics industry to transition from the use of giant industrial robots to more friendly humanoid robots. Soft robotics is one of the key elements needed to advance the transition process by providing a safer way for robots to interact with the environment. Electroactive polymers (EAPs) are one of the best candidate materials for the next generation of soft robotic actuators and artificial muscles. Lightweight dielectric elastomer actuators (DEAs) provide optimal properties such as high elasticity, rapid response rates, mechanical robustness and compliance. However, for DEAs to become widely used as artificial muscles or soft actuators, there are current limitations, such as high actuation voltage requirements, control of actuation direction, and scaling, that need to be addressed. The authors’ approach to overcome the drawbacks of conventional DEAs is inspired by the natural skeletal muscles. Instead of fabricating a large DEA device, smaller sub-units can be fabricated and bundled together to form larger actuators, similar to the way myofibrils form myocytes in skeletal muscles. The current study presents a novel fabrication approach, utilizing soft lithography and other microfabrication techniques, to allow fabrication of multilayer stacked DEA structures, composed of hundreds of micro-sized DEA units.

scholarly journals Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement

2020 ◽  
Vol 7 ◽  
Author(s):  
M. Franke ◽  
A. Ehrenhofer ◽  
S. Lahiri ◽  
E.-F. M. Henke ◽  
T. Wallmersperger ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Aerosol Deposition ◽  
Dielectric Elastomer ◽  
Artificial Muscles ◽  
Soft Systems ◽  
Natural Motion ◽  
Dielectric Elastomer Actuators ◽  
Resonance Frequencies ◽  
Wide Range ◽  
Laminate Theory

Natural motion types found in skeletal and muscular systems of vertebrate animals inspire researchers to transfer this ability into engineered motion, which is highly desired in robotic systems. Dielectric elastomer actuators (DEAs) have shown promising capabilities as artificial muscles for driving such structures, as they are soft, lightweight, and can generate large strokes. For maximum performance, dielectric elastomer membranes need to be sufficiently pre-stretched. This fact is challenging, because it is difficult to integrate pre-stretched membranes into entirely soft systems, since the stored strain energy can significantly deform soft elements. Here, we present a soft robotic structure, possessing a bioinspired skeleton integrated into a soft body element, driven by an antagonistic pair of DEA artificial muscles, that enable the robot bending. In its equilibrium state, the setup maintains optimum isotropic pre-stretch. The robot itself has a length of 60 mm and is based on a flexible silicone body, possessing embedded transverse 3D printed struts. These rigid bone-like elements lead to an anisotropic bending stiffness, which only allows bending in one plane while maintaining the DEA's necessary pre-stretch in the other planes. The bones, therefore, define the degrees of freedom and stabilize the system. The DEAs are manufactured by aerosol deposition of a carbon-silicone-composite ink onto a stretchable membrane that is heat cured. Afterwards, the actuators are bonded to the top and bottom of the silicone body. The robotic structure shows large and defined bimorph bending curvature and operates in static as well as dynamic motion. Our experiments describe the influence of membrane pre-stretch and varied stiffness of the silicone body on the static and dynamic bending displacement, resonance frequencies and blocking forces. We also present an analytical model based on the Classical Laminate Theory for the identification of the main influencing parameters. Due to the simple design and processing, our new concept of a bioinspired DEA based robotic structure, with skeletal and muscular reinforcement, offers a wide range of robotic application.

High-Energy-Density Shape Memory Materials with Ultrahigh Strain for Reconfigurable Artificial Muscles

2021 ◽  
Author(s):  
Zheng Xu ◽  
Yujie Chen ◽  
Chi Chen ◽  
Zhen Chen ◽  
Yu Tong Guo ◽  
...  
Keyword(s):  
Energy Density ◽  
Shape Memory ◽  
High Energy ◽  
High Energy Density ◽  
Soft Robotics ◽  
Artificial Muscles ◽  
Flexible Devices ◽  
Shape Memory Materials ◽  
Ultrahigh Strain ◽  
Considerable Strain

Abstract Programmable and reconfigurable artificial muscles are highly promising and desirable for applications, including soft robotics, flexible devices, and biomedical devices. However, the combination of considerable strain and high energy...

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