Strong dielectric-elastomer grippers with tension arch flexures

Kim-Rui Heng; Anansa S. Ahmed; Milan Shrestha; Gih-Keong Lau

doi:10.1117/12.2259926

17 April 2017 Strong dielectric-elastomer grippers with tension arch flexures

Kim-Rui Heng, Anansa S. Ahmed, Milan Shrestha, Gih-Keong Lau

Proceedings Volume 10163, Electroactive Polymer Actuators and Devices (EAPAD) 2017; 101631Z (2017) https://doi.org/10.1117/12.2259926
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2017, Portland, Oregon, United States

Abstract

Soft grippers based on dielectric elastomer actuator (DEA) are usually too flimsy to perform the task of pick and place on a heavier object given their low payload capacity. This work developed a new design of DEA unimorph consists of a flexible frame holding at a DEA on the discrete support by a stiffer spine-like flexure of 380μm thick Polyvinyl chloride (PVC) sheet. It finds an equilibrium of curling up when the DEA's pre-stretch is partially released; it can electrically unfolds upon a voltage application. This dielectric elastomer unimorph of 3 grams produced a maximum voltage induced bending of close to 90° and a maximum voltage-induced blocked force of up to 168mN. Given their higher stiffness and large actuation, these 3-D shaped and strengthened DEA unimorphs can make stronger grippers for passive grasping and active pinching.

Conference Presentation

Citation Download Citation

Kim-Rui Heng, Anansa S. Ahmed, Milan Shrestha, and Gih-Keong Lau "Strong dielectric-elastomer grippers with tension arch flexures", Proc. SPIE 10163, Electroactive Polymer Actuators and Devices (EAPAD) 2017, 101631Z (17 April 2017); https://doi.org/10.1117/12.2259926

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