Dielectric elastomeric bimorphs using electrolessly deposited silver electrodes

Goh, Simon Chun-Kiat; Lau, Gih Keong

doi:10.1117/12.847415

Cited by 10 publications

(11 citation statements)

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“…Given assumption (i) and constant width b, the summation of forces (7) and moments (8) in each layer are equated to zero. In the moment expression, the moment due to voltage induced-stress and an external moment M b are superimposed.…”

Section: Elastic Model Derivationmentioning

confidence: 99%

“…Various types of DEA have been investigated, including planar [1], 'spring roll' [3], agonist-antagonist bender [4], buckling [5,6], and unimorph [7][8][9][10] actuators. The focus of this work is the unimorph actuator, which consists of a DE 'active' material whose deformation under applied voltage is constrained on one face by a 'passive' material, resulting in out-of-plane bending.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, literature describing models for MUDEA in particular is relatively sparse. Analytical models do exist, for instance those by Maleki [9], Lai [10], and Goh [8] are all limited to considering only two layers, one passive layer, and one DE layer. Another model developed by Kadooka [11,12] can consider flat and curved MUDEA consisting of any number of layers, but like the other analytical models cannot consider material viscoelasticity or nonlinearity.…”

Section: Introductionmentioning

confidence: 99%

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Experimentally verified model of viscoelastic behavior of multilayer unimorph dielectric elastomer actuators

Karsch

Imamura

Taya

2016

Smart Mater. Struct.

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This work presents a linear viscoelastic model to describe the time-dependent actuation behavior of multilayer unimorph dielectric elastomer actuators (MUDEA), with experimental validation by actuators produced by a robotic dispenser system. MUDEA are a type of soft actuator which can produce large bending deformation without prestretch typically required by dielectric elastomer actuators. Current analytical and finite element models of MUDEA do not consider material viscoelasticity and cannot predict the change over time of performance metrics such as tip displacement and blocking force. The linear viscoelastic model presented in this work is based on a linear elastic model for the MUDEA extended to account for viscous effects by the elastic-viscoelastic correspondence principle. The model is easily implemented because it is based on explicit expressions which can be evaluated numerically by any computer algebra system. The model was used to predict the tip displacement and blocking force of MUDEAs consisting of two, four, six, eight, and ten layers of dielectric elastomer material. The model predictions agreed well with experimental data obtained from MUDEA produced by a robotic dispenser system, which was capable of producing multilayered structures of thin layers of dielectric elastomer and carbon nanotube based electrode material.

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Section: Elastic Model Derivationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Experimentally verified model of viscoelastic behavior of multilayer unimorph dielectric elastomer actuators

Karsch

Imamura

Taya

2016

Smart Mater. Struct.

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show abstract

“…Therefore, a direct electrical control of robotic actuation is preferred and can be achieved by dielectric elastomers (DE), which already have shown promising capabilities as artificial muscles for driving versatile biomimetic structures (Gu et al, 2017 ). For instance, DE are applied in a bimorph actuator (Goh and Lau, 2010 ), a fishtail (Berlinger et al, 2018 ), a transparent swimming soft robot (Christianson et al, 2018 ) or a caterpillar (Henke et al, 2017 ). They can simultaneously act as dielectric elastomer actuators generating large strokes and as sensors monitoring themselves (Henke et al, 2017 ).…”

Section: Introductionmentioning

confidence: 99%

Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement

et al. 2020

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Natural motion types found in skeletal and muscular systems of vertebrate animals inspire researchers to transfer this ability into engineered motion, which is highly desired in robotic systems. Dielectric elastomer actuators (DEAs) have shown promising capabilities as artificial muscles for driving such structures, as they are soft, lightweight, and can generate large strokes. For maximum performance, dielectric elastomer membranes need to be sufficiently pre-stretched. This fact is challenging, because it is difficult to integrate pre-stretched membranes into entirely soft systems, since the stored strain energy can significantly deform soft elements. Here, we present a soft robotic structure, possessing a bioinspired skeleton integrated into a soft body element, driven by an antagonistic pair of DEA artificial muscles, that enable the robot bending. In its equilibrium state, the setup maintains optimum isotropic pre-stretch. The robot itself has a length of 60 mm and is based on a flexible silicone body, possessing embedded transverse 3D printed struts. These rigid bone-like elements lead to an anisotropic bending stiffness, which only allows bending in one plane while maintaining the DEA's necessary pre-stretch in the other planes. The bones, therefore, define the degrees of freedom and stabilize the system. The DEAs are manufactured by aerosol deposition of a carbon-silicone-composite ink onto a stretchable membrane that is heat cured. Afterwards, the actuators are bonded to the top and bottom of the silicone body. The robotic structure shows large and defined bimorph bending curvature and operates in static as well as dynamic motion. Our experiments describe the influence of membrane pre-stretch and varied stiffness of the silicone body on the static and dynamic bending displacement, resonance frequencies and blocking forces. We also present an analytical model based on the Classical Laminate Theory for the identification of the main influencing parameters. Due to the simple design and processing, our new concept of a bioinspired DEA based robotic structure, with skeletal and muscular reinforcement, offers a wide range of robotic application.

show abstract

“…Therefore, a direct electrical control of robotic actuation is preferred and can be achieved by dielectric elastomers (DE), which already have shown promising capabilities as artificial muscles for driving versatile biomimetic structures (Gu et al, 2017). For instance, DE are applied in a bimorph actuator (Goh and Lau, 2010), a fishtail (Berlinger et al, 2018), a transparent swimming soft robot (Christianson et al, 2018) or a caterpillar (Henke et al, 2017). They can simultaneously act as dielectric elastomer actuators generating large strokes and as sensors monitoring themselves (Henke et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

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Dielectric elastomeric bimorphs using electrolessly deposited silver electrodes

Cited by 10 publications

References 0 publications

Experimentally verified model of viscoelastic behavior of multilayer unimorph dielectric elastomer actuators

Experimentally verified model of viscoelastic behavior of multilayer unimorph dielectric elastomer actuators

Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement

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