Soft gripping fingers made of multi-stacked dielectric elastomer actuators with backbone strategy
Abstract: Soft grippers, a rapidly growing subfield of soft robotics, utilize compliant and flexible materials capable of conforming to various shapes. This feature enables them to exert gentle yet, if required, strong gripping forces. In this study, we elaborate on the material selection and fabrication process of gripping fingers based on the dielectric elastomer actuation technique. We study the effects of mixing the silicone elastomer with a silicone thinner on the performance of the actuators. Inspired by nature, where the motion of end-effectors such as soft limbs or fingers is, in many cases, directed by a stiff skeleton, we utilize backbones for translating the planar actuation into a bending motion. Thus, the finger does not need any rigid frame or pre-stretch, as in many other DEA approaches. The idea and function of the backbone strategy are demonstrated by finite element method simulations with COMSOL Multiphysics® 6.5. The paper describes the full methodology from material choice and characterization, design, and simulation to characterization to enable future developments based on our approach. Finally, we present the performance of these actuators in a gripper demonstrator setup. The developed actuators bend up to 68.3° against gravity, and the gripper fingers hold up to 10.3 g against gravity under an actuation voltage of 8 kV
- Location
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Deutsche Nationalbibliothek Frankfurt am Main
- Extent
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Online-Ressource
- Language
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Englisch
- Notes
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Biomimetics. - 9, 8 (2024) , 505, ISSN: 2313-7673
- Event
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Veröffentlichung
- (where)
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Freiburg
- (who)
-
Universität
- (when)
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2024
- Creator
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Jamali, Armin
Knoerlein, Robert
Mishra, Dushyant Bhagwan
Sheikholeslami, Seyed Alireza
Woias, Peter
Goldschmidtböing, Frank
- DOI
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10.3390/biomimetics9080505
- URN
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urn:nbn:de:bsz:25-freidok-2564051
- Rights
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Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Last update
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25.03.2025, 1:41 PM CET
Data provider
Deutsche Nationalbibliothek. If you have any questions about the object, please contact the data provider.
Associated
- Jamali, Armin
- Knoerlein, Robert
- Mishra, Dushyant Bhagwan
- Sheikholeslami, Seyed Alireza
- Woias, Peter
- Goldschmidtböing, Frank
- Universität
Time of origin
- 2024
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