Article
Version 1
Preserved in Portico This version is not peer-reviewed
Soft End Effector using Spring Roll Dielectric Elastomer Actuators
Version 1
: Received: 28 September 2023 / Approved: 29 September 2023 / Online: 29 September 2023 (08:08:38 CEST)
A peer-reviewed article of this Preprint also exists.
Lewis, H.; Pan, M. Soft End Effector Using Spring Roll Dielectric Elastomer Actuators. Actuators 2023, 12, 412. Lewis, H.; Pan, M. Soft End Effector Using Spring Roll Dielectric Elastomer Actuators. Actuators 2023, 12, 412.
Abstract
Dielectric elastomer actuators (DEAs) offer robust, high energy density solutions for soft robotics. The proposed end effector consists of three spring roll configuration DEAs, each acting as a robotic finger, using a 3M VHB-F9473PC adhesive membrane. The lateral force, bending angle and response time of the actuator are measured experimentally and compared with the predictions of an analytical model. The cylindrical actuator measures 70 mm in length and 15 mm in diameter and achieved a lateral force of 30 mN, a bending angle of 6.8 ° and a response time of ≈ 1 s. Spring roll configuration DEAs are shown to reduce the effects of viscoelasticity seen in the membrane, making the actuator more controllable at higher voltages. The dielectric constant of the membrane is shown to be a limiting factor of actuation, with a decrease in dielectric constant resulting in larger actuation. The end effector successfully gripped numerous light objects for extended periods, showing the applicability of spring roll DEAs for soft end effectors.
Keywords
dielectric elastomer actuator; soft end effector; multiple degrees of freedom; modelling; artificial muscle
Subject
Engineering, Mechanical Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Comments (0)
We encourage comments and feedback from a broad range of readers. See criteria for comments and our Diversity statement.
Leave a public commentSend a private comment to the author(s)
* All users must log in before leaving a comment
