Dielectric elastomer fingers for versatile grasping and nimble pinching
Boneless soft robotic fingers cannot apply concentrated forces to pinch a delicate object. This letter reports a three-dimensional design of dielectric elastomer fingers with higher flexural stiffness and close to 90° voltage-controllable bending for object gripping and pinching. It makes use of ten...
| Principais autores: | , , , |
|---|---|
| Outros Autores: | |
| Formato: | Journal Article |
| Idioma: | English |
| Publicado em: |
2017
|
| Assuntos: | |
| Acesso em linha: | https://hdl.handle.net/10356/83353 http://hdl.handle.net/10220/42565 |
| _version_ | 1826113364630175744 |
|---|---|
| author | Lau, Gih-Keong Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Lau, Gih-Keong Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan |
| author_sort | Lau, Gih-Keong |
| collection | NTU |
| description | Boneless soft robotic fingers cannot apply concentrated forces to pinch a delicate object. This letter reports a three-dimensional design of dielectric elastomer fingers with higher flexural stiffness and close to 90° voltage-controllable bending for object gripping and pinching. It makes use of tension arch flexures to elevate a pre-stretched dielectric elastomer actuator (DEA) into a roof shape and thus magnifies the tension-induced moment, 40 times higher than a flat DEA does, to bend a stiff base frame. Such fingers make normally close-grippers to lift a payload 8–9 times their weight. They also make normally open grippers that pinch a highly deformable raw egg yolk. |
| first_indexed | 2024-10-01T03:22:01Z |
| format | Journal Article |
| id | ntu-10356/83353 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:22:01Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | ntu-10356/833532023-03-04T17:15:12Z Dielectric elastomer fingers for versatile grasping and nimble pinching Lau, Gih-Keong Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan School of Mechanical and Aerospace Engineering Dielectrics Elastomeric polymers Boneless soft robotic fingers cannot apply concentrated forces to pinch a delicate object. This letter reports a three-dimensional design of dielectric elastomer fingers with higher flexural stiffness and close to 90° voltage-controllable bending for object gripping and pinching. It makes use of tension arch flexures to elevate a pre-stretched dielectric elastomer actuator (DEA) into a roof shape and thus magnifies the tension-induced moment, 40 times higher than a flat DEA does, to bend a stiff base frame. Such fingers make normally close-grippers to lift a payload 8–9 times their weight. They also make normally open grippers that pinch a highly deformable raw egg yolk. Published version 2017-06-02T08:15:57Z 2019-12-06T15:20:36Z 2017-06-02T08:15:57Z 2019-12-06T15:20:36Z 2017 Journal Article Lau, G.-K., Heng, K.-R., Ahmed, A. S., & Shrestha, M. (2017). Dielectric elastomer fingers for versatile grasping and nimble pinching. Applied Physics Letters, 110(18), 182906-. 0003-6951 https://hdl.handle.net/10356/83353 http://hdl.handle.net/10220/42565 10.1063/1.4983036 en Applied Physics Letters © 2017 American Institute of Physics (AIP). This paper was published in Applied Physics Letters and is made available as an electronic reprint (preprint) with permission of American Institute of Physics (AIP). The published version is available at: [http://dx.doi.org/10.1063/1.4983036]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law. 5 p. application/pdf |
| spellingShingle | Dielectrics Elastomeric polymers Lau, Gih-Keong Heng, Kim-Rui Ahmed, Anansa S. Shrestha, Milan Dielectric elastomer fingers for versatile grasping and nimble pinching |
| title | Dielectric elastomer fingers for versatile grasping and nimble pinching |
| title_full | Dielectric elastomer fingers for versatile grasping and nimble pinching |
| title_fullStr | Dielectric elastomer fingers for versatile grasping and nimble pinching |
| title_full_unstemmed | Dielectric elastomer fingers for versatile grasping and nimble pinching |
| title_short | Dielectric elastomer fingers for versatile grasping and nimble pinching |
| title_sort | dielectric elastomer fingers for versatile grasping and nimble pinching |
| topic | Dielectrics Elastomeric polymers |
| url | https://hdl.handle.net/10356/83353 http://hdl.handle.net/10220/42565 |
| work_keys_str_mv | AT laugihkeong dielectricelastomerfingersforversatilegraspingandnimblepinching AT hengkimrui dielectricelastomerfingersforversatilegraspingandnimblepinching AT ahmedanansas dielectricelastomerfingersforversatilegraspingandnimblepinching AT shresthamilan dielectricelastomerfingersforversatilegraspingandnimblepinching |