Development and experimental evaluation of a compact 3D bending module actuated by rolled dielectric elastomer actuators (RDEAs)

Abstract

Soft robotic technology offers the potential for enhanced safety in human-robot collaboration. Our research introduces a compact robotic arm segment, actuated by silicone-based rolled dielectric elastomer actuators (RDEAs), in combination with a ball joint, showcasing large-angle multi-directional bending. A simplified kinematic, quasistatic model is presented. The segment was built utilizing PCBs as structural components a custom, low friction ball joint, and 3 groups of 3 RDEAs. Two different modes of operation are identified in the model as well as in experiments. One mode with smaller bending angles of 0° to 7°, and one mode with a larger, but constant angle of 25°. The results demonstrate significant bending capabilities in a compact form-factor, laying the foundation for the development of multi-segment RDEA-actuated soft robotic tentacle arms.