(181ai) Study on the Novel Porous PDMS-Based Dielectric Elastomer Actuators and Their Application in Robotics

Authors: 
Xu, J., Zhejiang University
Yao, Z., Zhejiang University
Cao, K., Zhejiang University

das Normal das 2 635 2019-04-11T08:19:00Z 2019-04-11T08:19:00Z 1 338 1933 16 4 2267 12.00

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mso-char-indent-count:0">Study
on the novel porous PDMS-based DEAs and their application in robotics

.5gd;text-align:center;text-indent:21.1pt;mso-outline-level:1"> 10.5pt;line-height:150%">Jia-hui Xu, Zhen Yao, Kun Cao*

21.1pt;layout-grid-mode:char;mso-layout-grid-align:none;text-autospace:none"> EN-GB;mso-bidi-font-style:italic">(State Key Laboratory of Chemical
Engineering; College of Chemical and Biological Engineering, Zhejiang
University, Hangzhou
, mso-bidi-font-style:italic">P.R. China)

0cm;mso-char-indent-count:0;layout-grid-mode:char;mso-layout-grid-align:none;
text-autospace:none"> line-height:150%;mso-bidi-font-family:" times new roman italic>* font-family:" times new roman>Corresponding author: 10.5pt;line-height:150%;mso-fareast-font-family:ËÎÌå;mso-bidi-font-family:" times new roman color:windowtext none>kcao@che.zju.edu.cn mso-bidi-font-size:10.5pt;line-height:150%;font-family:" times new roman>.
150%;mso-bidi-font-family:" times new roman>This work was supported by the
National Key Research and Development Program of China (No. 2016YFB0302200),
the National Natural Science Foundation of China (No. 51673163).

12.0pt;mso-bidi-language:EN-US">Abstract:

21.0pt">Soft robotics has grown
sufficiently rapidly in recent years, and has the potential to replace the
conventional robots due to their lightweight, environment adaptability, soft
and deformable. The well-known electroactive polymer (EAP) has been extensively
explored and widely applied to actuators which could be used to fabricate microrobotics
and bioinspired robotics. Dielectric elastomers(DEs) as one kind of
electroactive polymers(EAPs) have high energy efficiency and large actuated
strains. These properties make dielectric elastomer actuators (DEAs) ideal for
the actuation of soft robots, although their use has been limited by three main
challenges: (1) achieving large actuated strain without prestrain and stacked
structure. (2)simply operating skills and easy available raw materials; (3) tailorability
and applicability of robots owning various geometric structures. We developed a
novel frameless PDMS-based DEA composed of porous SO/SR composite material
which realized large area strain of 33% and the out-of-plane displacement of
8.7mm at a low electric field of 14.7kV/mm. Besides, the novel PDMS-based DEA possessed
excellent tailorability and temperature insensitivity which expanded the
application of them. Learning from the previous efforts about exploring
ray-inspired robots, we successfully applied two pieces of PDMS-based DEAs to a
ray-inspired robot which swam like a ray under liquid and achieved the velocity
of 5.3 cm/min at a frequency of 0.3 Hz, whose amplitude of driven electric
field was only 10kV/mm. These results suggest that the design principle of the
novel PDMS-based DEAs can be potentially extended to a variety of flexible
devices and soft robots.

0cm;mso-char-indent-count:0">Keywords: dielectric elastomer actuator; PDMS-based; soft robot