Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement
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...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2020-12-01
|
| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2020.510757/full |
| _version_ | 1818721106731728896 |
|---|---|
| author | M. Franke A. Ehrenhofer S. Lahiri E.-F. M. Henke E.-F. M. Henke T. Wallmersperger A. Richter |
| author_facet | M. Franke A. Ehrenhofer S. Lahiri E.-F. M. Henke E.-F. M. Henke T. Wallmersperger A. Richter |
| author_sort | M. Franke |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-17T20:33:28Z |
| format | Article |
| id | doaj.art-ae7f1d11b2924dce9c4cd1391aba7611 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-17T20:33:28Z |
| publishDate | 2020-12-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-ae7f1d11b2924dce9c4cd1391aba76112022-12-21T21:33:31ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442020-12-01710.3389/frobt.2020.510757510757Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular ReinforcementM. Franke0A. Ehrenhofer1S. Lahiri2E.-F. M. Henke3E.-F. M. Henke4T. Wallmersperger5A. Richter6Institute of Semiconductors and Microsystems (IHM), Technische Universität Dresden, Dresden, GermanyInstitute of Solid Mechanics, Technische Universität Dresden, Dresden, GermanyInstitute of Semiconductors and Microsystems (IHM), Technische Universität Dresden, Dresden, GermanyInstitute of Semiconductors and Microsystems (IHM), Technische Universität Dresden, Dresden, GermanyPowerOn Ltd., Auckland, New ZealandInstitute of Solid Mechanics, Technische Universität Dresden, Dresden, GermanyInstitute of Semiconductors and Microsystems (IHM), Technische Universität Dresden, Dresden, GermanyNatural 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.https://www.frontiersin.org/articles/10.3389/frobt.2020.510757/fulldielectric elastomer actuatorsoft robotmodelling and simulationbimorph actuationanisotropyskeleton |
| spellingShingle | M. Franke A. Ehrenhofer S. Lahiri E.-F. M. Henke E.-F. M. Henke T. Wallmersperger A. Richter Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement Frontiers in Robotics and AI dielectric elastomer actuator soft robot modelling and simulation bimorph actuation anisotropy skeleton |
| title | Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement |
| title_full | Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement |
| title_fullStr | Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement |
| title_full_unstemmed | Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement |
| title_short | Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement |
| title_sort | dielectric elastomer actuator driven soft robotic structures with bioinspired skeletal and muscular reinforcement |
| topic | dielectric elastomer actuator soft robot modelling and simulation bimorph actuation anisotropy skeleton |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2020.510757/full |
| work_keys_str_mv | AT mfranke dielectricelastomeractuatordrivensoftroboticstructureswithbioinspiredskeletalandmuscularreinforcement AT aehrenhofer dielectricelastomeractuatordrivensoftroboticstructureswithbioinspiredskeletalandmuscularreinforcement AT slahiri dielectricelastomeractuatordrivensoftroboticstructureswithbioinspiredskeletalandmuscularreinforcement AT efmhenke dielectricelastomeractuatordrivensoftroboticstructureswithbioinspiredskeletalandmuscularreinforcement AT efmhenke dielectricelastomeractuatordrivensoftroboticstructureswithbioinspiredskeletalandmuscularreinforcement AT twallmersperger dielectricelastomeractuatordrivensoftroboticstructureswithbioinspiredskeletalandmuscularreinforcement AT arichter dielectricelastomeractuatordrivensoftroboticstructureswithbioinspiredskeletalandmuscularreinforcement |