Strong dielectric-elastomer grippers with tension arch flexures
Soft grippers based on dielectric elastomer actuator (DEA) are usually too flimsy to perform the task of pick and place on a heavier object given their low payload capacity. This work developed a new design of DEA unimorph consists of a flexible frame holding at a DEA on the discrete support by a st...
| Egile Nagusiak: | , , , |
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| Beste egile batzuk: | |
| Formatua: | Journal Article |
| Hizkuntza: | English |
| Argitaratua: |
2019
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| Gaiak: | |
| Sarrera elektronikoa: | https://hdl.handle.net/10356/105857 http://hdl.handle.net/10220/49572 |
| Gaia: | Soft grippers based on dielectric elastomer actuator (DEA) are usually too flimsy to perform the task of pick and place on a heavier object given their low payload capacity. This work developed a new design of DEA unimorph consists of a flexible frame holding at a DEA on the discrete support by a stiffer spine-like flexure of 380μm thick Polyvinyl chloride (PVC) sheet. It finds an equilibrium of curling up when the DEA's pre-stretch is partially released; it can electrically unfolds upon a voltage application. This dielectric elastomer unimorph of 3 grams produced a maximum voltage induced bending of close to 90° and a maximum voltage-induced blocked force of up to 168mN. Given their higher stiffness and large actuation, these 3-D shaped and strengthened DEA unimorphs can make stronger grippers for passive grasping and active pinching. |
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