Soft shape-adaptive gripping device made from artificial muscle

E. Hamburg; V. Vunder; U. Johanson; F. Kaasik; A. Aabloo

doi:10.1117/12.2219051

15 April 2016 Soft shape-adaptive gripping device made from artificial muscle

E. Hamburg, V. Vunder, U. Johanson, F. Kaasik, A. Aabloo

Proceedings Volume 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016; 97981Q (2016) https://doi.org/10.1117/12.2219051
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2016, Las Vegas, Nevada, United States

Abstract

We report on a multifunctional four-finger gripper for soft robotics, suitable for performing delicate manipulation tasks. The gripping device is comprised of separately driven gripping and lifting mechanisms, both made from a separate single piece of smart material - ionic capacitive laminate (ICL) also known as artificial muscle. Compared to other similar devices the relatively high force output of the ICL material allows one to construct a device able to grab and lift objects exceeding multiple times its own weight. Due to flexible design of ICL grips, the device is able to adapt the complex shapes of different objects and allows grasping single or multiple objects simultaneously without damage. The performance of the gripper is evaluated in two different configurations: a) the ultimate grasping strength of the gripping hand; and b) the maximum lifting force of the lifting actuator. The ICL is composed of three main layers: a porous membrane consisting of non-ionic polymer poly(vinylidene fluoride-co-hexafluoropropene) (PVdF-HFP), ionic liquid 1-ethyl-3-methylimidazolium trifluoromethane-sulfonate (EMITFS), and a reinforcing layer of woven fiberglass cloth. Both sides of the membrane are coated with a carbonaceous electrode. The electrodes are additionally covered with thin gold layers, serving as current collectors. Device made of this material operates silently, requires low driving voltage (<3 V), and is suitable for performing tasks in open air environment.

Citation Download Citation

E. Hamburg, V. Vunder, U. Johanson, F. Kaasik, and A. Aabloo "Soft shape-adaptive gripping device made from artificial muscle", Proc. SPIE 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016, 97981Q (15 April 2016); https://doi.org/10.1117/12.2219051

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