Dielectric elastomer spring-roll bending actuators: applications in soft robotics and design (Conference Presentation)

Yanju Liu; Liwu Liu; Jinsong Leng

doi:10.1117/12.2515929

29 March 2019 Dielectric elastomer spring-roll bending actuators: applications in soft robotics and design (Conference Presentation)

Yanju Liu, Liwu Liu, Jinsong Leng

Author Affiliations +

Proceedings Volume 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI; 1096620 (2019) https://doi.org/10.1117/12.2515929
Event: SPIE Smart Structures + Nondestructive Evaluation, 2019, Denver, Colorado, United States

Abstract

Soft robotics is an emerging area that attracts more and more attentions. Dielectric elastomers could deform sustainably subjected to external electrical stimuli and become promising materials for soft robots due to the large actuation strain, low elastic modulus, fast response and high energy density. This paper focuses on the fabrication, applications and design of the dielectric elastomer spring-roll bending actuators. The actuator with large electrically induced bending angle has been made and demonstrated the applications in flexible gripper and inchworm-inspired soft crawling robots. The performance of the gripper and the crawling robot has been characterized. Thermodynamic model has been established to investigate the deformation and failure of such actuators. Comparison between theoretical and test results shows that the model is suitable for the prediction of the performance of the actuator. The influence of some design parameters on the performance of the actuator has been analyzed and discussed based on the model.

Conference Presentation

Citation Download Citation

Yanju Liu, Liwu Liu, and Jinsong Leng "Dielectric elastomer spring-roll bending actuators: applications in soft robotics and design (Conference Presentation)", Proc. SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI, 1096620 (29 March 2019); https://doi.org/10.1117/12.2515929

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