Electroactive Polymer-Based Soft Actuator with Integrated Functions of Multi-Degree-of-Freedom Motion and Perception | |
Wang RQ(王瑞乾)1,2,3; Zhang C(张闯)2,3; Tan WJ(谭文君)1,2,3; Yang J(杨佳)1,2,3; Lin DJ(林道京)1,2,3; Liu LQ(刘连庆)2,3 | |
刊名 | SOFT ROBOTICS |
2022 | |
页码 | 1-10 |
关键词 | dielectric elastomer actuator multi-DOF actuation multifunctionality soft actuator soft manipulator |
ISSN号 | 2169-5172 |
产权排序 | 1 |
英文摘要 | Soft actuators have received extensive attention in the fields of soft robotics, biomedicine, and intelligence systems owing to their advantages of pliancy, silence, and essential safety. However, most existing soft actuators have only single actuation elements and lack sensing. Therefore, it is difficult for them to perform complex motions with multiple degrees of freedom (multi-DOFs) and high precision. This article reports a miniature columnar dielectric elastomer actuator (DEA) with multi-DOF actuation and sensing, which was fabricated with an electroactive polymer acrylic film (Very High Bond [VHB] acrylic film by 3M Company) and carbon black grease electrodes. The arrangement of the simulation electrodes on the VHB was optimized to realize multi-DOF actuation, and the sensing electrodes were configured on the outer part of the DEA to realize real-time sensing. The results showed that the soft actuator can achieve all-round actuation through the selective power of the stimulation electrodes with a controllable voltage. The maximum bending angle and axial strain of the actuator reached 50 degrees and 13%, respectively. Moreover, the deformation modes, direction, and quantity could be precisely measured using the integrative sensing function. In addition, to demonstrate the advantages of the proposed actuator, a manipulator with multiple actuators was designed and controlled to realize different actions of screwing and grasping with sensing. This research is useful not only for the design of multifunctional soft actuators but also for the development of soft robots with flexible, complex, and precisely controllable motions. |
语种 | 英语 |
WOS记录号 | WOS:000792491000001 |
资助机构 | National Key R&D Program of China [2020YFB1313100] ; National Natural Science Foundation of China [62003338, 61925307, and 91748212] ; Nature Foundation of Liaoning Province of China [2021-BS-021 and 2019-KF-01-13] ; China Postdoctoral Science Foundation [252311], and the State Key Laboratory of Robotics [2020-Z16] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30988] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Zhang C(张闯) |
作者单位 | 1.University of the Chinese Academy of Sciences, Beijing, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
推荐引用方式 GB/T 7714 | Wang RQ,Zhang C,Tan WJ,et al. Electroactive Polymer-Based Soft Actuator with Integrated Functions of Multi-Degree-of-Freedom Motion and Perception[J]. SOFT ROBOTICS,2022:1-10. |
APA | Wang RQ,Zhang C,Tan WJ,Yang J,Lin DJ,&Liu LQ.(2022).Electroactive Polymer-Based Soft Actuator with Integrated Functions of Multi-Degree-of-Freedom Motion and Perception.SOFT ROBOTICS,1-10. |
MLA | Wang RQ,et al."Electroactive Polymer-Based Soft Actuator with Integrated Functions of Multi-Degree-of-Freedom Motion and Perception".SOFT ROBOTICS (2022):1-10. |
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