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Proceedings Paper

A roadmap towards strong and tunable Peano-HASEL actuators (Conference Presentation)
Author(s): Nicholas Kellaris; Vidyacharan Gopaluni Venkata; Philipp Rothemund; Christoph Keplinger

Paper Abstract

Traditional robots – made from electric motors and gears – are noncompliant, complex, and bulky, which limits their ability to perform in unstructured environments and increases risk during human-robot interactions. As a result, there have been efforts to design actuators from soft, compliant materials for use in versatile and adaptable robots. Electrohydraulic Peano-HASEL (Hydraulically Amplified Self-healing ELectrostatic) actuators have shown promise as linearly contracting soft actuators with high-speed operation, scalability, and simple design. Coupled with their versatility in fabrication and material systems, Peano-HASEL actuators have broad potential in robotics. In this presentation, we derive an analytical model that accurately predicts the quasi-static stress-strain behavior and scaling laws of Peano-HASEL actuators without using fitting parameters. We provide extensive experimental validation of this model using actuators constructed from heat-sealable biaxially-oriented polypropylene shells, vegetable-based transformer oil, and ionically-conductive hydrogel electrodes. Despite using a simple set of geometric assumptions, we find robust agreement between model and experiment. From these results, we identify several straightforward methods for tuning and improving the performance of Peano-HASELs – including the creation of actuators optimized for maximum strain or maximum force, and a strategy for improving the specific energy of these devices from 6 J/kg currently to > 1000 J/kg. The basic principles of these methods are applicable to a wide range of HASEL actuators. Further, we experimentally demonstrate actuators with increased specific energies following the predictions of these modeling results. Moving forward, these results will serve as a roadmap for the development of high-performance Peano-HASEL actuators, opening new applications in robotics.

Paper Details

Date Published: 29 March 2019
Proc. SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI, 109662B (29 March 2019); doi: 10.1117/12.2514115
Show Author Affiliations
Nicholas Kellaris, Univ. of Colorado Boulder (United States)
Vidyacharan Gopaluni Venkata, Univ. of Colorado Boulder (United States)
Philipp Rothemund, Univ. of Colorado Boulder (United States)
Christoph Keplinger, Univ. of Colorado Boulder (United States)

Published in SPIE Proceedings Vol. 10966:
Electroactive Polymer Actuators and Devices (EAPAD) XXI
Yoseph Bar-Cohen, Editor(s)

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