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...
| Asıl Yazarlar: | , , , |
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| Diğer Yazarlar: | |
| Materyal Türü: | Journal Article |
| Dil: | English |
| Baskı/Yayın Bilgisi: |
2019
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| Konular: | |
| Online Erişim: | https://hdl.handle.net/10356/105857 http://hdl.handle.net/10220/49572 |
| _version_ | 1826118797994491904 |
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| author | Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan Lau, Gih-Keong |
| author2 | Bar-Cohen, Yoseph |
| author_facet | Bar-Cohen, Yoseph Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan Lau, Gih-Keong |
| author_sort | Heng, Kim-Rui |
| collection | NTU |
| description | 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. |
| first_indexed | 2024-10-01T04:49:23Z |
| format | Journal Article |
| id | ntu-10356/105857 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:49:23Z |
| publishDate | 2019 |
| record_format | dspace |
| spelling | ntu-10356/1058572023-03-04T17:21:33Z Strong dielectric-elastomer grippers with tension arch flexures Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan Lau, Gih-Keong Bar-Cohen, Yoseph School of Mechanical and Aerospace Engineering SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring Engineering::Mechanical engineering Dielectric Elastomer Actuator Flight Muscles 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. Published version 2019-08-07T03:20:33Z 2019-12-06T21:59:21Z 2019-08-07T03:20:33Z 2019-12-06T21:59:21Z 2017 Journal Article Heng, K.-R., Ahmed, A. S., Shrestha, M., & Lau, G.-K. (2017). Strong dielectric-elastomer grippers with tension arch flexures. Proceedings of SPIE - Electroactive Polymer Actuators and Devices, 10163, 101631Z-. doi:10.1117/12.2259926 0277-786X https://hdl.handle.net/10356/105857 http://hdl.handle.net/10220/49572 10.1117/12.2259926 en Proceedings of SPIE - Electroactive Polymer Actuators and Devices © 2017 SPIE. All rights reserved. This paper was published in Proceedings of SPIE - Electroactive Polymer Actuators and Devices and is made available with permission of SPIE. 8 p. application/pdf |
| spellingShingle | Engineering::Mechanical engineering Dielectric Elastomer Actuator Flight Muscles Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan Lau, Gih-Keong Strong dielectric-elastomer grippers with tension arch flexures |
| title | Strong dielectric-elastomer grippers with tension arch flexures |
| title_full | Strong dielectric-elastomer grippers with tension arch flexures |
| title_fullStr | Strong dielectric-elastomer grippers with tension arch flexures |
| title_full_unstemmed | Strong dielectric-elastomer grippers with tension arch flexures |
| title_short | Strong dielectric-elastomer grippers with tension arch flexures |
| title_sort | strong dielectric elastomer grippers with tension arch flexures |
| topic | Engineering::Mechanical engineering Dielectric Elastomer Actuator Flight Muscles |
| url | https://hdl.handle.net/10356/105857 http://hdl.handle.net/10220/49572 |
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