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

J. Kunze; G. Soleti; D. Bruch; P. Motzki; S. Nalbach; S. Seelecke; G. Rizzello

doi:10.1117/12.3010129

9 May 2024 Development and experimental evaluation of a compact 3D bending module actuated by rolled dielectric elastomer actuators

J. Kunze, G. Soleti, D. Bruch, P. Motzki, S. Nalbach, S. Seelecke, G. Rizzello

Author Affiliations +

Proceedings Volume 12945, Electroactive Polymer Actuators and Devices (EAPAD) XXVI; 129450A (2024) https://doi.org/10.1117/12.3010129
Event: SPIE Smart Structures + Nondestructive Evaluation, 2024, Long Beach, California, United States

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.

Conference Presentation

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

J. Kunze, G. Soleti, D. Bruch, P. Motzki, S. Nalbach, S. Seelecke, and G. Rizzello "Development and experimental evaluation of a compact 3D bending module actuated by rolled dielectric elastomer actuators", Proc. SPIE 12945, Electroactive Polymer Actuators and Devices (EAPAD) XXVI, 129450A (9 May 2024); https://doi.org/10.1117/12.3010129

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available