Fabrication and analysis of dielectric-elastomer minimum-energy structures for highly-deformable soft robotic systems

Dielectric-elastomer minimum-energy structures (DEMES) form an emerging class of soft robotic systems. The appropriate materials and methods for rapidly fabricating DEMES prototypes are described. A DEMES component suitable for use in highly-deformable soft robots is presented and analyzed. Combinations of this component into snakelike robots are also presented. Calculations for determining the upper limit of a DEMES's mechanical work output, electromechanical efficiency, and energy density are described. The scope of the DEMES design-space and future research paths are discussed.

[1]  G. Kovács,et al.  Design and characterization of an active hinge segment based on soft dielectric EAPs , 2008 .

[2]  Ron Pelrine,et al.  Actuation Response of Polyacrylate Dielectric Elastomers , 2001, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[3]  Federico Carpi,et al.  Perspectives for new dielectric elastomers with improved electromechanical actuation performance: composites versus blends , 2010 .

[4]  Gabor Kovacs,et al.  Interpenetrating polymer networks based on acrylic elastomers and plasticizers with improved actuation temperature range , 2010 .

[5]  Roy D. Kornbluh.  Chapter 8 – FUNDAMENTAL CONFIGURATIONS FOR DIELECTRIC ELASTOMER ACTUATORS , 2008 .

[6]  Ron Pelrine,et al.  Chapter 4 – HIGH-PERFORMANCE ACRYLIC AND SILICONE ELASTOMERS , 2008 .

[7]  Q. Pei,et al.  High-speed electrically actuated elastomers with strain greater than 100% , 2000, Science.

[8]  D. De Rossi,et al.  Electromechanical characterisation of dielectric elastomer planar actuators: comparative evaluation of different electrode materials and different counterloads , 2003 .

[9]  Ron Pelrine,et al.  Multiple-degrees-of-freedom electroelastomer roll actuators , 2004 .

[10]  S. Timoshenko,et al.  THEORY OF PLATES AND SHELLS , 1959 .

[11]  S. Dubowsky,et al.  On the properties of dielectric elastomer actuators and their design implications , 2007 .

[12]  Heung Cho Ko,et al.  A hemispherical electronic eye camera based on compressible silicon optoelectronics , 2008, Nature.

[13]  D. De Rossi,et al.  Millimetre‐scale bubble‐like dielectric elastomer actuators , 2010 .

[14]  Rachel Z. Pytel,et al.  Artificial muscle technology: physical principles and naval prospects , 2004, IEEE Journal of Oceanic Engineering.

[15]  Q. Pei,et al.  High-field deformation of elastomeric dielectrics for actuators , 2000 .

[16]  Ian W. Hunter,et al.  A comparative analysis of actuator technologies for robotics , 1992 .

[17]  S. Dubowsky,et al.  Large-scale failure modes of dielectric elastomer actuators , 2006 .

[18]  S. Bauer,et al.  Energy minimization for self-organized structure formation and actuation , 2007 .

[19]  Mohamed Benslimane,et al.  Dielectric electro-active polymer push actuators: performance and challenges , 2010 .

[20]  D. Rossi,et al.  Dielectric elastomers as electromechanical transducers: Fundamentals, Materials, Devices, Models and Applications of an Emerging Electroactive Polymer Technology , 2008 .

[21]  S. Bauer,et al.  Self-organized minimum-energy structures for dielectric elastomer actuators , 2006 .