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Proceedings Paper

Strong dielectric-elastomer grippers with tension arch flexures
Author(s): Kim-Rui Heng; Anansa S. Ahmed; Milan Shrestha; Gih-Keong Lau
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Paper 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.

Paper Details

Date Published: 17 April 2017
PDF: 8 pages
Proc. SPIE 10163, Electroactive Polymer Actuators and Devices (EAPAD) 2017, 101631Z (17 April 2017); doi: 10.1117/12.2259926
Show Author Affiliations
Kim-Rui Heng, Nanyang Technological Univ. (Singapore)
Anansa S. Ahmed, Nanyang Technological Univ. (Singapore)
Milan Shrestha, Nanyang Technological Univ (Singapore)
Gih-Keong Lau, Nanyang Technological Univ. (Singapore)


Published in SPIE Proceedings Vol. 10163:
Electroactive Polymer Actuators and Devices (EAPAD) 2017
Yoseph Bar-Cohen, Editor(s)

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